Replaced flag with 4.1 version

.travis.python.sh

@@ -29,7 +29,7 @@ cmake $CURRDIR -DCMAKE_BUILD_TYPE=Release \
     -DGTSAM_BUILD_WITH_MARCH_NATIVE=OFF \
     -DGTSAM_INSTALL_CYTHON_TOOLBOX=ON \
     -DGTSAM_PYTHON_VERSION=$PYTHON_VERSION \
-    -DGTSAM_ALLOW_DEPRECATED_SINCE_V4=OFF \
+    -DGTSAM_ALLOW_DEPRECATED_SINCE_V41=OFF \
     -DCMAKE_INSTALL_PREFIX=$CURRDIR/../gtsam_install
 
 make -j$(nproc) install

.travis.sh

@@ -61,7 +61,7 @@ function configure()
       -DGTSAM_WITH_TBB=${GTSAM_WITH_TBB:-OFF} \
       -DGTSAM_USE_QUATERNIONS=${GTSAM_USE_QUATERNIONS:-OFF} \
       -DGTSAM_BUILD_EXAMPLES_ALWAYS=${GTSAM_BUILD_EXAMPLES_ALWAYS:-ON} \
-      -DGTSAM_ALLOW_DEPRECATED_SINCE_V4=${GTSAM_ALLOW_DEPRECATED_SINCE_V4:-OFF} \
+      -DGTSAM_ALLOW_DEPRECATED_SINCE_V4=${GTSAM_ALLOW_DEPRECATED_SINCE_V41:-OFF} \
       -DGTSAM_BUILD_WITH_MARCH_NATIVE=OFF \
       -DCMAKE_VERBOSE_MAKEFILE=OFF
 }

.travis.yml

@@ -88,7 +88,7 @@ jobs:
   - stage: special
     os: linux
     compiler: clang
-    env: CC=clang-9 CXX=clang++-9 CMAKE_BUILD_TYPE=Debug GTSAM_BUILD_UNSTABLE=OFF GTSAM_ALLOW_DEPRECATED_SINCE_V4=ON
+    env: CC=clang-9 CXX=clang++-9 CMAKE_BUILD_TYPE=Debug GTSAM_BUILD_UNSTABLE=OFF GTSAM_ALLOW_DEPRECATED_SINCE_V41=ON
     script: bash .travis.sh -b
 # on Linux, with GTSAM_WITH_TBB on to make sure GTSAM still compiles/tests
   - stage: special

CMakeLists.txt

@@ -75,7 +75,7 @@ option(GTSAM_WITH_TBB                    "Use Intel Threaded Building Blocks (TB
 option(GTSAM_WITH_EIGEN_MKL              "Eigen will use Intel MKL if available" OFF)
 option(GTSAM_WITH_EIGEN_MKL_OPENMP       "Eigen, when using Intel MKL, will also use OpenMP for multithreading if available" OFF)
 option(GTSAM_THROW_CHEIRALITY_EXCEPTION  "Throw exception when a triangulated point is behind a camera" ON)
-option(GTSAM_ALLOW_DEPRECATED_SINCE_V4   "Allow use of methods/functions deprecated in GTSAM 4" ON)
+option(GTSAM_ALLOW_DEPRECATED_SINCE_V41  "Allow use of methods/functions deprecated in GTSAM 4.1" ON)
 option(GTSAM_TYPEDEF_POINTS_TO_VECTORS   "Typedef Point2 and Point3 to Eigen::Vector equivalents" OFF)
 option(GTSAM_SUPPORT_NESTED_DISSECTION   "Support Metis-based nested dissection" ON)
 option(GTSAM_TANGENT_PREINTEGRATION      "Use new ImuFactor with integration on tangent space" ON)
@@ -590,7 +590,7 @@ print_config_flag(${GTSAM_USE_QUATERNIONS}             "Quaternions as default R
 print_config_flag(${GTSAM_ENABLE_CONSISTENCY_CHECKS}   "Runtime consistency checking    ")
 print_config_flag(${GTSAM_ROT3_EXPMAP}                 "Rot3 retract is full ExpMap     ")
 print_config_flag(${GTSAM_POSE3_EXPMAP}                "Pose3 retract is full ExpMap    ")
-print_config_flag(${GTSAM_ALLOW_DEPRECATED_SINCE_V4}   "Deprecated in GTSAM 4 allowed   ")
+print_config_flag(${GTSAM_ALLOW_DEPRECATED_SINCE_V41}  "Deprecated in GTSAM 4.1 allowed ")
 print_config_flag(${GTSAM_TYPEDEF_POINTS_TO_VECTORS}   "Point3 is typedef to Vector3    ")
 print_config_flag(${GTSAM_SUPPORT_NESTED_DISSECTION}   "Metis-based Nested Dissection   ")
 print_config_flag(${GTSAM_TANGENT_PREINTEGRATION}      "Use tangent-space preintegration")

README.md

@@ -44,9 +44,12 @@ Optional prerequisites - used automatically if findable by CMake:
 
 ## GTSAM 4 Compatibility
 
-GTSAM 4 introduces several new features, most notably Expressions and a Python toolbox. We also deprecate some legacy functionality and wrongly named methods, but by default the flag GTSAM_ALLOW_DEPRECATED_SINCE_V4 is enabled, allowing anyone to just pull V4 and compile. To build the python toolbox, however, you will have to explicitly disable that flag.
+GTSAM 4 introduces several new features, most notably Expressions and a Python toolbox. It also introduces traits, a C++ technique that allows optimizing with non-GTSAM types. That opens the door to retiring geometric types such as Point2 and Point3 to pure Eigen types, which we also do. A significant change which will not trigger a compile error is that zero-initializing of Point2 and Point3 is deprecated, so please be aware that this might render functions using their default constructor incorrect.
+
+GTSAM 4 also deprecated some legacy functionality and wrongly named methods. If you are on a 4.0.X release, you can define the flag GTSAM_ALLOW_DEPRECATED_SINCE_V4 to use the deprecated methods.
+
+GTSAM 4.1 added a new pybind wrapper, and **removed** the deprecated functionality. There is a flag GTSAM_ALLOW_DEPRECATED_SINCE_V41 for newly deprecated methods since the 4.1 release, which is on by default, allowing anyone to just pull version 4.1 and compile.
 
-Also, GTSAM 4 introduces traits, a C++ technique that allows optimizing with non-GTSAM types. That opens the door to retiring geometric types such as Point2 and Point3 to pure Eigen types, which we also do. A significant change which will not trigger a compile error is that zero-initializing of Point2 and Point3 is deprecated, so please be aware that this might render functions using their default constructor incorrect.
 
 ## Wrappers
 

gtsam/config.h.in

@@ -70,7 +70,7 @@
 #cmakedefine GTSAM_THROW_CHEIRALITY_EXCEPTION
 
 // Make sure dependent projects that want it can see deprecated functions
-#cmakedefine GTSAM_ALLOW_DEPRECATED_SINCE_V4
+#cmakedefine GTSAM_ALLOW_DEPRECATED_SINCE_V41
 
 // Publish flag about Eigen typedef
 #cmakedefine GTSAM_TYPEDEF_POINTS_TO_VECTORS