From f262801932781e7313ec70c4015cbf04d173c7f8 Mon Sep 17 00:00:00 2001
From: Richard Roberts <richard.jw.roberts@gmail.com>
Date: Tue, 5 Nov 2013 16:06:12 +0000
Subject: [PATCH] Replaced gettimeofday with boost posix time for compatibility
 on windows

---
 gtsam/nonlinear/LevenbergMarquardtOptimizer.cpp | 7 ++-----
 gtsam/nonlinear/LevenbergMarquardtOptimizer.h   | 8 +++-----
 2 files changed, 5 insertions(+), 10 deletions(-)

diff --git a/gtsam/nonlinear/LevenbergMarquardtOptimizer.cpp b/gtsam/nonlinear/LevenbergMarquardtOptimizer.cpp
index bb895dc27..7498ae759 100644
--- a/gtsam/nonlinear/LevenbergMarquardtOptimizer.cpp
+++ b/gtsam/nonlinear/LevenbergMarquardtOptimizer.cpp
@@ -24,7 +24,6 @@
 #include <boost/algorithm/string.hpp>
 #include <string>
 #include <cmath>
-#include <ctime>
 #include <fstream>
 
 using namespace std;
@@ -118,11 +117,9 @@ void LevenbergMarquardtOptimizer::iterate() {
       if (!params_.logFile.empty()) {
         ofstream os(params_.logFile.c_str(), ios::app);
 
-        timeval rawtime;
-        gettimeofday(&rawtime, NULL);
-        double currentTime = rawtime.tv_sec + rawtime.tv_usec / 1000000.0;
+        boost::posix_time::ptime currentTime = boost::posix_time::microsec_clock::universal_time();
 
-        os << state_.iterations << "," << currentTime - state_.startTime << ","
+        os << state_.iterations << "," << 1e-6 * (currentTime - state_.startTime).total_microseconds() << ","
             << state_.error << "," << state_.lambda << endl;
       }
 
diff --git a/gtsam/nonlinear/LevenbergMarquardtOptimizer.h b/gtsam/nonlinear/LevenbergMarquardtOptimizer.h
index 1b5b39fc8..303702cca 100644
--- a/gtsam/nonlinear/LevenbergMarquardtOptimizer.h
+++ b/gtsam/nonlinear/LevenbergMarquardtOptimizer.h
@@ -19,7 +19,7 @@
 #pragma once
 
 #include <gtsam/nonlinear/NonlinearOptimizer.h>
-#include <ctime>
+#include <boost/date_time/posix_time/posix_time.hpp>
 
 namespace gtsam {
 
@@ -100,16 +100,14 @@ class GTSAM_EXPORT LevenbergMarquardtState: public NonlinearOptimizerState {
 public:
   double lambda;
   int totalNumberInnerIterations; // The total number of inner iterations in the optimization (for each iteration, LM may try multiple iterations with different lambdas)
-  double startTime;
+  boost::posix_time::ptime startTime;
 
   LevenbergMarquardtState() {
     initTime();
   }
 
   void initTime() {
-    timeval tod;
-    gettimeofday(&tod, NULL);
-    startTime = tod.tv_sec + tod.tv_usec / 1000000.0;
+    startTime = boost::posix_time::microsec_clock::universal_time();
   }
 
   virtual ~LevenbergMarquardtState() {