From 951377c80f3cd2dc7cc0311ecb33e0298d88f8d0 Mon Sep 17 00:00:00 2001
From: Jing Dong <jdong@gatech.edu>
Date: Fri, 16 Oct 2015 14:18:13 -0400
Subject: [PATCH] fix type errors and timer issue in LM optimizer

---
 gtsam/base/timing.h                             |  1 +
 gtsam/nonlinear/LevenbergMarquardtOptimizer.cpp | 15 ++++++++-------
 2 files changed, 9 insertions(+), 7 deletions(-)

diff --git a/gtsam/base/timing.h b/gtsam/base/timing.h
index d0bca4a9d..d1e90f63a 100644
--- a/gtsam/base/timing.h
+++ b/gtsam/base/timing.h
@@ -18,6 +18,7 @@
 #pragma once
 
 #include <gtsam/base/FastMap.h>
+#include <gtsam/base/types.h>
 #include <gtsam/dllexport.h>
 #include <gtsam/config.h> // for GTSAM_USE_TBB
 
diff --git a/gtsam/nonlinear/LevenbergMarquardtOptimizer.cpp b/gtsam/nonlinear/LevenbergMarquardtOptimizer.cpp
index ace35e530..ad976119a 100644
--- a/gtsam/nonlinear/LevenbergMarquardtOptimizer.cpp
+++ b/gtsam/nonlinear/LevenbergMarquardtOptimizer.cpp
@@ -22,11 +22,11 @@
 #include <gtsam/linear/GaussianFactorGraph.h>
 #include <gtsam/linear/VectorValues.h>
 #include <gtsam/linear/Errors.h>
+#include <gtsam/base/timing.h>
 
 #include <boost/algorithm/string.hpp>
 #include <boost/range/adaptor/map.hpp>
 #include <boost/format.hpp>
-#include <boost/timer/timer.hpp>
 
 #include <fstream>
 #include <limits>
@@ -239,7 +239,8 @@ void LevenbergMarquardtOptimizer::iterate() {
 
   // Keep increasing lambda until we make make progress
   while (true) {
-    boost::timer::cpu_timer timer;
+    gttic(iteration);
+
     if (lmVerbosity >= LevenbergMarquardtParams::TRYLAMBDA)
       cout << "trying lambda = " << state_.lambda << endl;
 
@@ -322,14 +323,14 @@ void LevenbergMarquardtOptimizer::iterate() {
       }
     }
 
+    gttoc(iteration);
+
     if (lmVerbosity == LevenbergMarquardtParams::SUMMARY) {
-      // do timing
-      double iterationTime = 1e-9 * timer.elapsed().wall;
       if (state_.iterations == 0)
-        cout << "iter      cost      cost_change    lambda  success iter_time" << endl;
-      cout << boost::format("% 4d % 8e   % 3.2e   % 3.2e  % 4d   % 3.2e") %
+        cout << "iter      cost      cost_change    lambda  success" << endl;
+      cout << boost::format("% 4d % 8e   % 3.2e   % 3.2e  % 4d") %
                   state_.iterations % newError % costChange % state_.lambda %
-                  systemSolvedSuccessfully % iterationTime << endl;
+                  systemSolvedSuccessfully << endl;
     }
 
     ++state_.totalNumberInnerIterations;