From 87ef601b661c784cfa25f1d07fdedbfffe2db6d8 Mon Sep 17 00:00:00 2001
From: Zhaoyang Lv <lvzhaoyang1990@gmail.com>
Date: Thu, 13 Nov 2014 21:26:33 -0500
Subject: [PATCH] changes revertted to 502a745

---
 gtsam_unstable/timing/timeDSFvariants.cpp                    | 5 +++--
 .../timing/timeInertialNavFactor_GlobalVelocity.cpp          | 4 ++--
 2 files changed, 5 insertions(+), 4 deletions(-)

diff --git a/gtsam_unstable/timing/timeDSFvariants.cpp b/gtsam_unstable/timing/timeDSFvariants.cpp
index 134c318cb..f0bbb9072 100644
--- a/gtsam_unstable/timing/timeDSFvariants.cpp
+++ b/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
diff --git a/gtsam_unstable/timing/timeInertialNavFactor_GlobalVelocity.cpp b/gtsam_unstable/timing/timeInertialNavFactor_GlobalVelocity.cpp
index bd191d887..dabf283c6 100644
--- a/gtsam_unstable/timing/timeInertialNavFactor_GlobalVelocity.cpp
+++ b/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;