compiler directives
parent
2578a7098f
commit
05df0ca0cc
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@ -238,6 +238,7 @@ Vector CombinedImuFactor::evaluateError(const Pose3& pose_i,
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}
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//------------------------------------------------------------------------------
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#ifdef ALLOW_DEPRECATED_IN_GTSAM4
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CombinedImuFactor::CombinedImuFactor(
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Key pose_i, Key vel_i, Key pose_j, Key vel_j, Key bias_i, Key bias_j,
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const CombinedPreintegratedMeasurements& pim, const Vector3& n_gravity,
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@ -254,7 +255,7 @@ CombinedImuFactor::CombinedImuFactor(
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p->use2ndOrderCoriolis = use2ndOrderCoriolis;
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_PIM_.p_ = p;
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}
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//------------------------------------------------------------------------------
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void CombinedImuFactor::Predict(const Pose3& pose_i, const Vector3& vel_i,
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Pose3& pose_j, Vector3& vel_j,
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const imuBias::ConstantBias& bias_i,
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@ -268,6 +269,7 @@ void CombinedImuFactor::Predict(const Pose3& pose_i, const Vector3& vel_i,
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pose_j = pvb.pose;
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vel_j = pvb.velocity;
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}
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#endif
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} /// namespace gtsam
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@ -281,6 +281,7 @@ public:
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/// @deprecated typename
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typedef gtsam::PreintegratedCombinedMeasurements CombinedPreintegratedMeasurements;
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#ifdef ALLOW_DEPRECATED_IN_GTSAM4
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/// @deprecated constructor
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CombinedImuFactor(Key pose_i, Key vel_i, Key pose_j, Key vel_j, Key bias_i,
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Key bias_j, const CombinedPreintegratedMeasurements& pim,
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@ -294,6 +295,7 @@ public:
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CombinedPreintegratedMeasurements& pim,
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const Vector3& n_gravity, const Vector3& omegaCoriolis,
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const bool use2ndOrderCoriolis = false);
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#endif
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private:
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@ -85,6 +85,7 @@ void PreintegratedImuMeasurements::integrateMeasurement(
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}
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//------------------------------------------------------------------------------
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#ifdef ALLOW_DEPRECATED_IN_GTSAM4
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PreintegratedImuMeasurements::PreintegratedImuMeasurements(
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const imuBias::ConstantBias& biasHat, const Matrix3& measuredAccCovariance,
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const Matrix3& measuredOmegaCovariance,
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@ -100,7 +101,6 @@ PreintegratedImuMeasurements::PreintegratedImuMeasurements(
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resetIntegration();
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}
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//------------------------------------------------------------------------------
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void PreintegratedImuMeasurements::integrateMeasurement(
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const Vector3& measuredAcc, const Vector3& measuredOmega, double deltaT,
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boost::optional<Pose3> body_P_sensor) {
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@ -108,6 +108,7 @@ void PreintegratedImuMeasurements::integrateMeasurement(
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p_->body_P_sensor = body_P_sensor;
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integrateMeasurement(measuredAcc, measuredOmega, deltaT);
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}
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#endif
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//------------------------------------------------------------------------------
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// ImuFactor methods
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@ -171,6 +172,7 @@ ImuFactor::ImuFactor(Key pose_i, Key vel_i, Key pose_j, Key vel_j, Key bias,
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}
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//------------------------------------------------------------------------------
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#ifdef ALLOW_DEPRECATED_IN_GTSAM4
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void ImuFactor::Predict(const Pose3& pose_i, const Vector3& vel_i,
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Pose3& pose_j, Vector3& vel_j, const imuBias::ConstantBias& bias_i,
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PreintegratedMeasurements& pim, const Vector3& n_gravity,
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@ -181,5 +183,5 @@ void ImuFactor::Predict(const Pose3& pose_i, const Vector3& vel_i,
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pose_j = pvb.pose;
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vel_j = pvb.velocity;
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}
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#endif
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} // namespace gtsam
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@ -118,6 +118,7 @@ public:
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/// Return pre-integrated measurement covariance
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Matrix preintMeasCov() const { return preintMeasCov_; }
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#ifdef ALLOW_DEPRECATED_IN_GTSAM4
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/// @deprecated constructor
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/// NOTE(frank): assumes Z-Down convention, only second order integration supported
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PreintegratedImuMeasurements(const imuBias::ConstantBias& biasHat,
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@ -131,6 +132,7 @@ public:
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void integrateMeasurement(const Vector3& measuredAcc,
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const Vector3& measuredOmega, double dt,
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boost::optional<Pose3> body_P_sensor);
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#endif
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private:
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@ -295,6 +295,7 @@ Vector9 PreintegrationBase::computeErrorAndJacobians(const Pose3& pose_i,
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}
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//------------------------------------------------------------------------------
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#ifdef ALLOW_DEPRECATED_IN_GTSAM4
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PoseVelocityBias PreintegrationBase::predict(const Pose3& pose_i,
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const Vector3& vel_i, const imuBias::ConstantBias& bias_i,
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const Vector3& n_gravity, const Vector3& omegaCoriolis,
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@ -307,7 +308,7 @@ PoseVelocityBias PreintegrationBase::predict(const Pose3& pose_i,
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p_ = q;
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return PoseVelocityBias(predict(NavState(pose_i, vel_i), bias_i), bias_i);
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}
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#endif
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//------------------------------------------------------------------------------
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}/// namespace gtsam
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@ -28,6 +28,7 @@
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namespace gtsam {
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#ifdef ALLOW_DEPRECATED_IN_GTSAM4
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/// @deprecated
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struct PoseVelocityBias {
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Pose3 pose;
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@ -44,6 +45,7 @@ struct PoseVelocityBias {
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return NavState(pose, velocity);
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}
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};
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#endif
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/**
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* PreintegrationBase is the base class for PreintegratedMeasurements
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@ -101,7 +103,10 @@ public:
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protected:
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/// Parameters. Declared mutable only for deprecated predict method.
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mutable boost::shared_ptr<Params> p_;
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#ifdef ALLOW_DEPRECATED_IN_GTSAM4
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mutable
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#endif
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boost::shared_ptr<Params> p_;
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/// Acceleration and gyro bias used for preintegration
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imuBias::ConstantBias biasHat_;
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@ -277,6 +282,7 @@ public:
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/// @}
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#ifdef ALLOW_DEPRECATED_IN_GTSAM4
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/// @name Deprecated
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/// @{
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@ -286,6 +292,7 @@ public:
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const Vector3& omegaCoriolis, const bool use2ndOrderCoriolis = false) const;
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/// @}
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#endif
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private:
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/** Serialization function */
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