From f3ed18dfdc3dca7cfc1fcbdd46a06272e7338f4f Mon Sep 17 00:00:00 2001
From: Stephen Williams <stephen.vincent.williams@gmail.com>
Date: Tue, 15 May 2012 18:13:37 +0000
Subject: [PATCH] Updated gtsam_unstable for the new nonlinear optimizer

---
 gtsam_unstable/dynamics/imuSystem.cpp | 5 ++---
 1 file changed, 2 insertions(+), 3 deletions(-)

diff --git a/gtsam_unstable/dynamics/imuSystem.cpp b/gtsam_unstable/dynamics/imuSystem.cpp
index e5eaa3dff..209615bcc 100644
--- a/gtsam_unstable/dynamics/imuSystem.cpp
+++ b/gtsam_unstable/dynamics/imuSystem.cpp
@@ -5,8 +5,7 @@
  */
 
 #include <gtsam_unstable/dynamics/imuSystem.h>
-
-#include <gtsam/nonlinear/NonlinearOptimization.h>
+#include <gtsam/nonlinear/LevenbergMarquardtOptimizer.h>
 
 namespace imu {
 
@@ -56,7 +55,7 @@ void Graph::addRange(Key key1, Key key2, double z, const SharedNoiseModel& noise
 
 /* ************************************************************************* */
 Values Graph::optimize(const Values& init) const {
-	return gtsam::optimize<Graph>(*this, init);
+  return LevenbergMarquardtOptimizer(*this, init).optimize();
 }
 /* ************************************************************************* */