changes revertted to 502a745

gtsam_unstable/timing/timeDSFvariants.cpp

@@ -57,7 +57,8 @@ int main(int argc, char* argv[]) {
     volatile double fpm = 0.5; // fraction of points matched
     volatile size_t nm = fpm * n * np; // number of matches
 
-    cout << format("\nTesting with %1% images, %2% points, %3% matches\n") % m % N % nm;
+    cout << format("\nTesting with %1% images, %2% points, %3% matches\n")
+            % (int)m % (int)N % (int)nm;
     cout << "Generating " << nm << " matches" << endl;
     boost::variate_generator<boost::mt19937, boost::uniform_int<size_t> > rn(
         boost::mt19937(), boost::uniform_int<size_t>(0, N - 1));
@@ -67,7 +68,7 @@ int main(int argc, char* argv[]) {
     for (size_t k = 0; k < nm; k++)
       matches.push_back(Match(rn(), rn()));
 
-    os << format("%1%,%2%,%3%,") % m % N % nm;
+    os << format("%1%,%2%,%3%,") % (int)m % (int)N % (int)nm;
 
     {
       // DSFBase version

gtsam_unstable/timing/timeInertialNavFactor_GlobalVelocity.cpp

@@ -40,7 +40,7 @@ gtsam::Pose3 predictionErrorPose(const Pose3& p1, const Vector3& v1, const imuBi
 }
 
 gtsam::Vector3 predictionErrorVel(const Pose3& p1, const Vector3& v1, const imuBias::ConstantBias& b1, const Pose3& p2, const Vector3& v2, const InertialNavFactor_GlobalVelocity<Pose3, Vector3, imuBias::ConstantBias>& factor) {
-  return Vector3::Expmap(factor.evaluateError(p1, v1, b1, p2, v2).tail(3));
+  return factor.evaluateError(p1, v1, b1, p2, v2).tail(3);
 }
 
 #include <gtsam/linear/GaussianFactorGraph.h>
@@ -78,7 +78,7 @@ int main() {
   Point3 t2 = t1.compose( Point3(Vel1*measurement_dt) );
   Pose3 Pose2(R2, t2);
   Vector dv = measurement_dt * (R1.matrix() * measurement_acc + world_g);
-  Vector3 Vel2 = Vel1.compose( dv );
+  Vector3 Vel2 = Vel1 + dv;
   imuBias::ConstantBias Bias1;
 
   Values values;