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add GTSAM_POSE3_EXPMAP option to CMakeLists and config.h.in to let users specify POSE3_DEFAULT_COORDINATES_MODE before compilation.

release/4.3a0
Duy-Nguyen Ta 2013-04-30 17:17:51 +00:00
parent e4b29b8d8b
commit 723ff2c9ad
3 changed files with 9 additions and 2 deletions
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2
CMakeLists.txt
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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

3
gtsam/config.h.in
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@ -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

6
gtsam/geometry/Pose3.h
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@ -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