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Added cmake option for extra consistency checks and added functionality to Pose3 expmap flag

release/4.3a0
Alex Cunningham 2013-05-21 14:18:01 +00:00
parent 77c2e37a4d
commit 6b47aaeba3
1 changed files with 11 additions and 1 deletions
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12
CMakeLists.txt
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@ -58,6 +58,7 @@ if(NOT MSVC)
option(GTSAM_BUILD_CONVENIENCE_LIBRARIES "Enable/Disable use of convenience libraries for faster development rebuilds, but slower install" OFF)
endif()
option(GTSAM_POSE3_EXPMAP "Enable/Disable using Pose3::EXPMAP as the default mode. If disabled, Pose3::FIRST_ORDER will be used." OFF)
option(GTSAM_ENABLE_CONSISTENCY_CHECKS "Enable/Disable expensive consistency checks" OFF)
# Options relating to MATLAB wrapper
# TODO: Check for matlab mex binary before handling building of binaries
@ -172,6 +173,13 @@ if(MSVC)
add_definitions(/wd4251 /wd4275 /wd4251) # Disable non-DLL-exported base class warnings
endif()
if(GTSAM_ENABLE_CONSISTENCY_CHECKS)
add_definitions(-DGTSAM_EXTRA_CONSISTENCY_CHECKS)
endif()
if(GTSAM_POSE3_EXPMAP)
add_definitions(-DGTSAM_POSE3_EXPMAP)
endif()
###############################################################################
# Add components
@ -287,7 +295,9 @@ message(STATUS " CPack Source Generator
message(STATUS " CPack Generator : ${CPACK_GENERATOR}")
message(STATUS "GTSAM flags ")
print_config_flag(${GTSAM_USE_QUATERNIONS} "Quaternions as default Rot3")
print_config_flag(${GTSAM_USE_QUATERNIONS} "Quaternions as default Rot3 ")
print_config_flag(${GTSAM_ENABLE_CONSISTENCY_CHECKS} "Runtime consistency checking ")
print_config_flag(${GTSAM_POSE3_EXPMAP} "Using full expmap as defaul retract for Pose3 ")
message(STATUS "MATLAB toolbox flags ")
print_config_flag(${GTSAM_INSTALL_MATLAB_TOOLBOX} "Install matlab toolbox ")