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