From 05df0ca0cc22548e6d29730f7212e5a12e7c711b Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Sun, 27 Dec 2015 18:41:50 -0800 Subject: [PATCH] compiler directives --- gtsam/navigation/CombinedImuFactor.cpp | 4 +++- gtsam/navigation/CombinedImuFactor.h | 2 ++ gtsam/navigation/ImuFactor.cpp | 6 ++++-- gtsam/navigation/ImuFactor.h | 2 ++ gtsam/navigation/PreintegrationBase.cpp | 3 ++- gtsam/navigation/PreintegrationBase.h | 9 ++++++++- 6 files changed, 21 insertions(+), 5 deletions(-) diff --git a/gtsam/navigation/CombinedImuFactor.cpp b/gtsam/navigation/CombinedImuFactor.cpp index 4dbbfda27..ace9aa09a 100644 --- a/gtsam/navigation/CombinedImuFactor.cpp +++ b/gtsam/navigation/CombinedImuFactor.cpp @@ -238,6 +238,7 @@ Vector CombinedImuFactor::evaluateError(const Pose3& pose_i, } //------------------------------------------------------------------------------ +#ifdef ALLOW_DEPRECATED_IN_GTSAM4 CombinedImuFactor::CombinedImuFactor( Key pose_i, Key vel_i, Key pose_j, Key vel_j, Key bias_i, Key bias_j, const CombinedPreintegratedMeasurements& pim, const Vector3& n_gravity, @@ -254,7 +255,7 @@ CombinedImuFactor::CombinedImuFactor( p->use2ndOrderCoriolis = use2ndOrderCoriolis; _PIM_.p_ = p; } -//------------------------------------------------------------------------------ + void CombinedImuFactor::Predict(const Pose3& pose_i, const Vector3& vel_i, Pose3& pose_j, Vector3& vel_j, const imuBias::ConstantBias& bias_i, @@ -268,6 +269,7 @@ void CombinedImuFactor::Predict(const Pose3& pose_i, const Vector3& vel_i, pose_j = pvb.pose; vel_j = pvb.velocity; } +#endif } /// namespace gtsam diff --git a/gtsam/navigation/CombinedImuFactor.h b/gtsam/navigation/CombinedImuFactor.h index 691fae5b9..3bc8176a2 100644 --- a/gtsam/navigation/CombinedImuFactor.h +++ b/gtsam/navigation/CombinedImuFactor.h @@ -281,6 +281,7 @@ public: /// @deprecated typename typedef gtsam::PreintegratedCombinedMeasurements CombinedPreintegratedMeasurements; +#ifdef ALLOW_DEPRECATED_IN_GTSAM4 /// @deprecated constructor CombinedImuFactor(Key pose_i, Key vel_i, Key pose_j, Key vel_j, Key bias_i, Key bias_j, const CombinedPreintegratedMeasurements& pim, @@ -294,6 +295,7 @@ public: CombinedPreintegratedMeasurements& pim, const Vector3& n_gravity, const Vector3& omegaCoriolis, const bool use2ndOrderCoriolis = false); +#endif private: diff --git a/gtsam/navigation/ImuFactor.cpp b/gtsam/navigation/ImuFactor.cpp index 70527d91d..2104d1878 100644 --- a/gtsam/navigation/ImuFactor.cpp +++ b/gtsam/navigation/ImuFactor.cpp @@ -85,6 +85,7 @@ void PreintegratedImuMeasurements::integrateMeasurement( } //------------------------------------------------------------------------------ +#ifdef ALLOW_DEPRECATED_IN_GTSAM4 PreintegratedImuMeasurements::PreintegratedImuMeasurements( const imuBias::ConstantBias& biasHat, const Matrix3& measuredAccCovariance, const Matrix3& measuredOmegaCovariance, @@ -100,7 +101,6 @@ PreintegratedImuMeasurements::PreintegratedImuMeasurements( resetIntegration(); } -//------------------------------------------------------------------------------ void PreintegratedImuMeasurements::integrateMeasurement( const Vector3& measuredAcc, const Vector3& measuredOmega, double deltaT, boost::optional body_P_sensor) { @@ -108,6 +108,7 @@ void PreintegratedImuMeasurements::integrateMeasurement( p_->body_P_sensor = body_P_sensor; integrateMeasurement(measuredAcc, measuredOmega, deltaT); } +#endif //------------------------------------------------------------------------------ // ImuFactor methods @@ -171,6 +172,7 @@ ImuFactor::ImuFactor(Key pose_i, Key vel_i, Key pose_j, Key vel_j, Key bias, } //------------------------------------------------------------------------------ +#ifdef ALLOW_DEPRECATED_IN_GTSAM4 void ImuFactor::Predict(const Pose3& pose_i, const Vector3& vel_i, Pose3& pose_j, Vector3& vel_j, const imuBias::ConstantBias& bias_i, PreintegratedMeasurements& pim, const Vector3& n_gravity, @@ -181,5 +183,5 @@ void ImuFactor::Predict(const Pose3& pose_i, const Vector3& vel_i, pose_j = pvb.pose; vel_j = pvb.velocity; } - +#endif } // namespace gtsam diff --git a/gtsam/navigation/ImuFactor.h b/gtsam/navigation/ImuFactor.h index d47b5d740..9be189d02 100644 --- a/gtsam/navigation/ImuFactor.h +++ b/gtsam/navigation/ImuFactor.h @@ -118,6 +118,7 @@ public: /// Return pre-integrated measurement covariance Matrix preintMeasCov() const { return preintMeasCov_; } +#ifdef ALLOW_DEPRECATED_IN_GTSAM4 /// @deprecated constructor /// NOTE(frank): assumes Z-Down convention, only second order integration supported PreintegratedImuMeasurements(const imuBias::ConstantBias& biasHat, @@ -131,6 +132,7 @@ public: void integrateMeasurement(const Vector3& measuredAcc, const Vector3& measuredOmega, double dt, boost::optional body_P_sensor); +#endif private: diff --git a/gtsam/navigation/PreintegrationBase.cpp b/gtsam/navigation/PreintegrationBase.cpp index 99da0182c..2372b2ee2 100644 --- a/gtsam/navigation/PreintegrationBase.cpp +++ b/gtsam/navigation/PreintegrationBase.cpp @@ -295,6 +295,7 @@ Vector9 PreintegrationBase::computeErrorAndJacobians(const Pose3& pose_i, } //------------------------------------------------------------------------------ +#ifdef ALLOW_DEPRECATED_IN_GTSAM4 PoseVelocityBias PreintegrationBase::predict(const Pose3& pose_i, const Vector3& vel_i, const imuBias::ConstantBias& bias_i, const Vector3& n_gravity, const Vector3& omegaCoriolis, @@ -307,7 +308,7 @@ PoseVelocityBias PreintegrationBase::predict(const Pose3& pose_i, p_ = q; return PoseVelocityBias(predict(NavState(pose_i, vel_i), bias_i), bias_i); } - +#endif //------------------------------------------------------------------------------ }/// namespace gtsam diff --git a/gtsam/navigation/PreintegrationBase.h b/gtsam/navigation/PreintegrationBase.h index 993c40ca7..9214772f7 100644 --- a/gtsam/navigation/PreintegrationBase.h +++ b/gtsam/navigation/PreintegrationBase.h @@ -28,6 +28,7 @@ namespace gtsam { +#ifdef ALLOW_DEPRECATED_IN_GTSAM4 /// @deprecated struct PoseVelocityBias { Pose3 pose; @@ -44,6 +45,7 @@ struct PoseVelocityBias { return NavState(pose, velocity); } }; +#endif /** * PreintegrationBase is the base class for PreintegratedMeasurements @@ -101,7 +103,10 @@ public: protected: /// Parameters. Declared mutable only for deprecated predict method. - mutable boost::shared_ptr p_; +#ifdef ALLOW_DEPRECATED_IN_GTSAM4 + mutable +#endif + boost::shared_ptr p_; /// Acceleration and gyro bias used for preintegration imuBias::ConstantBias biasHat_; @@ -277,6 +282,7 @@ public: /// @} +#ifdef ALLOW_DEPRECATED_IN_GTSAM4 /// @name Deprecated /// @{ @@ -286,6 +292,7 @@ public: const Vector3& omegaCoriolis, const bool use2ndOrderCoriolis = false) const; /// @} +#endif private: /** Serialization function */