add GTSAM_POSE3_EXPMAP option to CMakeLists and config.h.in to let users specify POSE3_DEFAULT_COORDINATES_MODE before compilation.
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				|  | @ -57,7 +57,7 @@ option(GTSAM_USE_QUATERNIONS             "Enable/Disable using an internal Quate | |||
| 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) | ||||
| 
 | ||||
| # Options relating to MATLAB wrapper | ||||
| # TODO: Check for matlab mex binary before handling building of binaries | ||||
|  |  | |||
|  | @ -23,3 +23,6 @@ | |||
| 
 | ||||
| // Whether GTSAM is compiled to use quaternions for Rot3 (otherwise uses rotation matrices)
 | ||||
| #cmakedefine GTSAM_USE_QUATERNIONS | ||||
| 
 | ||||
| // Whether GTSAM is compiled to use Pose3::EXPMAP as the default coordinates mode for Pose3's retract and localCoordinates (otherwise, Pose3::FIRST_ORDER will be used)
 | ||||
| #cmakedefine GTSAM_POSE3_EXPMAP  | ||||
|  | @ -18,7 +18,11 @@ | |||
| 
 | ||||
| #pragma once | ||||
| 
 | ||||
| #ifndef POSE3_DEFAULT_COORDINATES_MODE | ||||
| #include <gtsam/config.h> | ||||
| 
 | ||||
| #ifndef GTSAM_POSE3_EXPMAP | ||||
| #define POSE3_DEFAULT_COORDINATES_MODE Pose3::FIRST_ORDER | ||||
| #else | ||||
| #define POSE3_DEFAULT_COORDINATES_MODE Pose3::EXPMAP | ||||
| #endif | ||||
| 
 | ||||
|  |  | |||
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