From 1345a5fe86f61ba0b4673b26d395e3372ee2df54 Mon Sep 17 00:00:00 2001
From: Duy-Nguyen Ta <thduynguyen@gmail.com>
Date: Sat, 25 Feb 2012 17:31:00 +0000
Subject: [PATCH] fix small bugs in matlab wrapper to make it compiled. Still
 have runtime errors in when calling graph.optimize in matlab

---
 examples/matlab/Pose2SLAMExample_easy.m | 2 +-
 gtsam.h                                 | 4 ++--
 2 files changed, 3 insertions(+), 3 deletions(-)

diff --git a/examples/matlab/Pose2SLAMExample_easy.m b/examples/matlab/Pose2SLAMExample_easy.m
index bbafba99d..6c359f314 100644
--- a/examples/matlab/Pose2SLAMExample_easy.m
+++ b/examples/matlab/Pose2SLAMExample_easy.m
@@ -39,7 +39,7 @@ graph.addOdometry(x2, x3, odom_measurement, odom_model);
 
 %% Add measurements
 % general noisemodel for measurements
-meas_model = SharedNoiseModel_sharedSigmas([0.1; 0.2]);
+meas_model = gtsamSharedNoiseModel_Sigmas([0.1; 0.2]);
 
 % print
 graph.print('full graph');
diff --git a/gtsam.h b/gtsam.h
index 688fc4fa7..26f3457c7 100644
--- a/gtsam.h
+++ b/gtsam.h
@@ -214,7 +214,7 @@ class CalibratedCamera {
     CalibratedCamera(const Vector& v);
 
     void print(string s) const;
-    bool equals(const gtsam::Pose3& pose, double tol) const;
+    bool equals(const gtsam::CalibratedCamera& camera, double tol) const;
 
     gtsam::Pose3 pose() const;
 
@@ -404,7 +404,7 @@ class Ordering {
 	Ordering();
 	void print(string s) const;
 	bool equals(const gtsam::Ordering& ord, double tol) const;
-	void push_back(string key);
+	void push_back(size_t key);
 };
 
 class NonlinearOptimizationParameters {