From 6eeeb3fef1bd389af8c8913ae4bd6e7e9a005c03 Mon Sep 17 00:00:00 2001
From: dellaert <dellaert@cc.gatech.edu>
Date: Mon, 8 Feb 2016 18:58:43 -0800
Subject: [PATCH] Fixed forgotten compose

---
 gtsam_unstable/timing/timeInertialNavFactor_GlobalVelocity.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/gtsam_unstable/timing/timeInertialNavFactor_GlobalVelocity.cpp b/gtsam_unstable/timing/timeInertialNavFactor_GlobalVelocity.cpp
index 39481f929..001d75eb2 100644
--- a/gtsam_unstable/timing/timeInertialNavFactor_GlobalVelocity.cpp
+++ b/gtsam_unstable/timing/timeInertialNavFactor_GlobalVelocity.cpp
@@ -75,7 +75,7 @@ int main() {
   Rot3 R2(0.473618898,   0.119523052,  0.872582019,
        0.609241153,   0.67099888, -0.422594037,
       -0.636011287,  0.731761397,  0.244979388);
-  Point3 t2 = t1.compose( Point3(Vel1*measurement_dt) );
+  Point3 t2 = t1 + Point3(Vel1*measurement_dt);
   Pose3 Pose2(R2, t2);
   Vector dv = measurement_dt * (R1.matrix() * measurement_acc + world_g);
   Vector3 Vel2 = Vel1 + dv;