From 03faa623a6c00c919e57fa7f2b8e8afe37e486b4 Mon Sep 17 00:00:00 2001
From: Tyler Veness <calcmogul@gmail.com>
Date: Wed, 3 Jul 2024 16:37:04 -0700
Subject: [PATCH] Change SetValue() return type to void

---
 include/sleipnir/autodiff/Variable.hpp       | 3 +--
 include/sleipnir/autodiff/VariableBlock.hpp  | 8 ++------
 include/sleipnir/autodiff/VariableMatrix.hpp | 4 +---
 3 files changed, 4 insertions(+), 11 deletions(-)

diff --git a/include/sleipnir/autodiff/Variable.hpp b/include/sleipnir/autodiff/Variable.hpp
index 80e9d993..b176d91d 100644
--- a/include/sleipnir/autodiff/Variable.hpp
+++ b/include/sleipnir/autodiff/Variable.hpp
@@ -62,7 +62,7 @@ class SLEIPNIR_DLLEXPORT Variable {
    *
    * @param value The value of the Variable.
    */
-  Variable& SetValue(double value) {
+  void SetValue(double value) {
     if (expr->IsConstant(0.0)) {
       expr = detail::MakeExpressionPtr(value);
     } else {
@@ -76,7 +76,6 @@ class SLEIPNIR_DLLEXPORT Variable {
       }
       expr->value = value;
     }
-    return *this;
   }
 
   /**
diff --git a/include/sleipnir/autodiff/VariableBlock.hpp b/include/sleipnir/autodiff/VariableBlock.hpp
index faac4219..03a1eb65 100644
--- a/include/sleipnir/autodiff/VariableBlock.hpp
+++ b/include/sleipnir/autodiff/VariableBlock.hpp
@@ -131,12 +131,10 @@ class VariableBlock {
    *
    * @param value Value to assign.
    */
-  VariableBlock<Mat>& SetValue(double value) {
+  void SetValue(double value) {
     Assert(Rows() == 1 && Cols() == 1);
 
     (*this)(0, 0).SetValue(value);
-
-    return *this;
   }
 
   /**
@@ -165,7 +163,7 @@ class VariableBlock {
    */
   template <typename Derived>
     requires std::same_as<typename Derived::Scalar, double>
-  VariableBlock<Mat>& SetValue(const Eigen::MatrixBase<Derived>& values) {
+  void SetValue(const Eigen::MatrixBase<Derived>& values) {
     Assert(Rows() == values.rows());
     Assert(Cols() == values.cols());
 
@@ -174,8 +172,6 @@ class VariableBlock {
         (*this)(row, col).SetValue(values(row, col));
       }
     }
-
-    return *this;
   }
 
   /**
diff --git a/include/sleipnir/autodiff/VariableMatrix.hpp b/include/sleipnir/autodiff/VariableMatrix.hpp
index a7e89e5d..5fa7e9f4 100644
--- a/include/sleipnir/autodiff/VariableMatrix.hpp
+++ b/include/sleipnir/autodiff/VariableMatrix.hpp
@@ -200,7 +200,7 @@ class SLEIPNIR_DLLEXPORT VariableMatrix {
    */
   template <typename Derived>
     requires std::same_as<typename Derived::Scalar, double>
-  VariableMatrix& SetValue(const Eigen::MatrixBase<Derived>& values) {
+  void SetValue(const Eigen::MatrixBase<Derived>& values) {
     Assert(Rows() == values.rows());
     Assert(Cols() == values.cols());
 
@@ -209,8 +209,6 @@ class SLEIPNIR_DLLEXPORT VariableMatrix {
         (*this)(row, col).SetValue(values(row, col));
       }
     }
-
-    return *this;
   }
 
   /**