Triple Demo not compiling

 error: ‘ex10_pgm’ was not declared in this scope, and no declarations were found by argument-dependent lookup at the point of instantiation [-fpermissive]
     if (!ex10_pgm(argc, argv, pm, wam))
                                      ^
   error: ‘haptic_world_pgm’ was not declared in this scope, and no declarations were found by argument-dependent lookup at the point of instantiation [-fpermissive]
     if (!haptic_world_pgm(argc, argv, pm, wam))
                                              
error: ‘haptic_balloon_pgm’ was not declared in this scope, and no declarations were found by argument-dependent lookup at the point of instantiation [-fpermissive]
     if (!haptic_balloon_pgm(argc, argv, pm, wam))
                                                ^

Need to reorder functions and update syntax for Eigen version 3