From 9f84b46e3f843149bfe2d2ed201912bc36132c87 Mon Sep 17 00:00:00 2001
From: dellaert <dellaert@cc.gatech.edu>
Date: Sun, 5 Jun 2016 01:16:35 -0700
Subject: [PATCH] TRying to get past compile issue on Jenkins

---
 python/handwritten/navigation/ImuFactor.cpp | 8 ++++++--
 1 file changed, 6 insertions(+), 2 deletions(-)

diff --git a/python/handwritten/navigation/ImuFactor.cpp b/python/handwritten/navigation/ImuFactor.cpp
index 2e477e506..afc6f331d 100644
--- a/python/handwritten/navigation/ImuFactor.cpp
+++ b/python/handwritten/navigation/ImuFactor.cpp
@@ -34,7 +34,7 @@ BOOST_PYTHON_MEMBER_FUNCTION_OVERLOADS(attitude_overloads, attitude, 0, 1)
 BOOST_PYTHON_MEMBER_FUNCTION_OVERLOADS(position_overloads, position, 0, 1)
 BOOST_PYTHON_MEMBER_FUNCTION_OVERLOADS(velocity_overloads, velocity, 0, 1)
 BOOST_PYTHON_MEMBER_FUNCTION_OVERLOADS(equals_overloads, PreintegratedImuMeasurements::equals, 1, 2)
-BOOST_PYTHON_MEMBER_FUNCTION_OVERLOADS(predict_overloads, PreintegrationType::predict, 2, 4)
+BOOST_PYTHON_MEMBER_FUNCTION_OVERLOADS(predict_overloads, PreintegrationBase::predict, 2, 4)
 
 void exportImuFactor() {
   class_<OptionalJacobian39>("OptionalJacobian39", init<>());
@@ -81,7 +81,11 @@ void exportImuFactor() {
   register_ptr_to_python< boost::shared_ptr<PreintegrationParams> >();
 
   class_<PreintegrationType>(
-      "PreintegrationType",
+#ifdef GTSAM_TANGENT_PREINTEGRATION
+      "TangentPreintegration",
+#else
+      "ManifoldPreintegration",
+#endif
       init<const boost::shared_ptr<PreintegrationParams>&, const imuBias::ConstantBias&>())
       .def("predict", &PreintegrationType::predict, predict_overloads())
       .def("computeError", &PreintegrationType::computeError)