Fix IMU example

python/gtsam_examples/ImuFactorExample.py

@@ -69,7 +69,7 @@ class ImuFactorExample(PreintegrationExample):
             # get measurements and add them to PIM
             measuredOmega = self.runner.measuredAngularVelocity(t)
             measuredAcc = self.runner.measuredSpecificForce(t)
-            pim.integrateMeasurement(measuredAcc, measuredOmega, self.dt, H9, H9)
+            pim.integrateMeasurement(measuredAcc, measuredOmega, self.dt)
             
             # Plot IMU many times
             if k % 10 == 0:

python/gtsam_examples/PreintegrationExample.py

@@ -101,7 +101,7 @@ class PreintegrationExample(object):
         actualPose = self.scenario.pose(t)
         plotPose3(POSES_FIG, actualPose, 0.3)
         t = actualPose.translation()
-        self.maxDim = max([abs(t.x()), abs(t.y()), abs(t.z()), self.maxDim])
+        self.maxDim = max([abs(t[0]), abs(t[1]), abs(t[2]), self.maxDim])
         ax = plt.gca()
         ax.set_xlim3d(-self.maxDim, self.maxDim)
         ax.set_ylim3d(-self.maxDim, self.maxDim)

python/gtsam_utils/plot.py

@@ -33,7 +33,7 @@ def plot3DPoints(fignum, values, linespec, marginals=None):
 def plotPose3OnAxes(ax, pose, axisLength=0.1):
     # get rotation and translation (center)
     gRp = pose.rotation().matrix()  # rotation from pose to global
-    C = pose.translation().vector()
+    C = pose.translation()
 
     # draw the camera axes
     xAxis = C + gRp[:, 0] * axisLength