Merge remote-tracking branch 'origin/develop' into feature/fixedSizeDerivatives

gtsam/base/LieMatrix.h

@@ -19,6 +19,7 @@
 
 #include <cstdarg>
 
+#warning "LieMatrix.h is deprecated. Please use Eigen::Matrix instead."
 #include <gtsam/base/DerivedValue.h>
 #include <gtsam/base/Lie.h>
 #include <gtsam/base/Matrix.h>
@@ -27,7 +28,9 @@
 namespace gtsam {
 
 /**
- * LieVector is a wrapper around vector to allow it to be a Lie type
+ * @deprecated: LieScalar, LieVector and LieMatrix are obsolete in GTSAM 4.0 as
+ * we can directly add double, Vector, and Matrix into values now, because of
+ * gtsam::traits.
  */
 struct LieMatrix : public Matrix {
 

gtsam/base/LieScalar.h

@@ -17,6 +17,7 @@
 
 #pragma once
 
+#warning "LieScalar.h is deprecated. Please use double/float instead."
 #include <gtsam/dllexport.h>
 #include <gtsam/base/DerivedValue.h>
 #include <gtsam/base/Lie.h>
@@ -24,7 +25,9 @@
 namespace gtsam {
 
   /**
-   * LieScalar is a wrapper around double to allow it to be a Lie type
+   * @deprecated: LieScalar, LieVector and LieMatrix are obsolete in GTSAM 4.0 as
+   * we can directly add double, Vector, and Matrix into values now, because of
+   * gtsam::traits.
    */
   struct GTSAM_EXPORT LieScalar {
 

gtsam/base/LieVector.h

@@ -17,6 +17,7 @@
 
 #pragma once
 
+#warning "LieVector.h is deprecated. Please use Eigen::Vector instead."
 #include <gtsam/base/Lie.h>
 #include <gtsam/base/Vector.h>
 #include <gtsam/base/DerivedValue.h>
@@ -24,7 +25,9 @@
 namespace gtsam {
 
 /**
- * LieVector is a wrapper around vector to allow it to be a Lie type
+ * @deprecated: LieScalar, LieVector and LieMatrix are obsolete in GTSAM 4.0 as
+ * we can directly add double, Vector, and Matrix into values now, because of
+ * gtsam::traits.
  */
 struct LieVector : public Vector {
 

gtsam_unstable/timing/timeAdaptAutoDiff.cpp

@@ -18,7 +18,7 @@
 
 #include "timeLinearize.h"
 #include <gtsam/3rdparty/ceres/example.h>
-#include <gtsam_unstable/nonlinear/AdaptAutoDiff.h>
+#include <gtsam/nonlinear/AdaptAutoDiff.h>
 #include <gtsam_unstable/nonlinear/ExpressionFactor.h>
 #include <gtsam/slam/GeneralSFMFactor.h>
 #include <gtsam/geometry/PinholeCamera.h>