compiler directives

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
 

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:
 

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<Pose3> 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

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<Pose3> body_P_sensor);
+#endif
 
 private:
 

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

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<Params> p_;
+#ifdef ALLOW_DEPRECATED_IN_GTSAM4
+  mutable
+#endif
+  boost::shared_ptr<Params> 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 */