Reimplement adjoint mapping function that takes Jacobian

+ Improve the performance by not taking variable size Eigen parameter
    + Reference
        + http://eigen.tuxfamily.org/dox/TopicFunctionTakingEigenTypes.html
        + http://stackoverflow.com/questions/22585935/fixed-size-eigen-matrix-as-parameters-in-template-function
        + http://stackoverflow.com/questions/22650112/eigen3-passing-fixed-size-matrix-and-dynamic-size-matrix-in-one-data-type-in-te