diff --git a/gtsam/nonlinear/lago.cpp b/gtsam/nonlinear/lago.cpp index 8ceb4e34e..20d3e1dae 100644 --- a/gtsam/nonlinear/lago.cpp +++ b/gtsam/nonlinear/lago.cpp @@ -200,7 +200,7 @@ GaussianFactorGraph buildLinearOrientationGraph( /* ************************************************************************* */ // Select the subgraph of betweenFactors and transforms priors into between wrt a fictitious node static NonlinearFactorGraph buildPose2graph(const NonlinearFactorGraph& graph) { - gttic_(lago_buildPose2graph); + gttic(lago_buildPose2graph); NonlinearFactorGraph pose2Graph; BOOST_FOREACH(const boost::shared_ptr& factor, graph) { @@ -253,7 +253,7 @@ static PredecessorMap findOdometricPath( // Return the orientations of a graph including only BetweenFactors static VectorValues computeOrientations(const NonlinearFactorGraph& pose2Graph, bool useOdometricPath) { - gttic_(lago_computeOrientations); + gttic(lago_computeOrientations); // Find a minimum spanning tree PredecessorMap tree; @@ -297,7 +297,7 @@ VectorValues initializeOrientations(const NonlinearFactorGraph& graph, /* ************************************************************************* */ Values computePoses(const NonlinearFactorGraph& pose2graph, VectorValues& orientationsLago) { - gttic_(lago_computePoses); + gttic(lago_computePoses); // Linearized graph on full poses GaussianFactorGraph linearPose2graph; @@ -367,7 +367,7 @@ Values computePoses(const NonlinearFactorGraph& pose2graph, /* ************************************************************************* */ Values initialize(const NonlinearFactorGraph& graph, bool useOdometricPath) { - gttic_(lago_initialize); + gttic(lago_initialize); // We "extract" the Pose2 subgraph of the original graph: this // is done to properly model priors and avoiding operating on a larger graph