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Frank Dellaert 2021-12-23 12:33:47 -05:00 committed by GitHub
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**Important Note**
As of August 1 2020, the `develop` branch is officially in "Pre 4.1" mode, and features deprecated in 4.0 have been removed. Please use the last [4.0.3 release](https://github.com/borglab/gtsam/releases/tag/4.0.3) if you need those features.
As of Dec 2021, the `develop` branch is officially in "Pre 4.2" mode. A great new feature we will be adding in 4.2 is *hybrid inference* a la DCSLAM (Kevin Doherty et al) and we envision several API-breaking changes will happen in the discrete folder.
However, most are easily converted and can be tracked down (in 4.0.3) by disabling the cmake flag `GTSAM_ALLOW_DEPRECATED_SINCE_V4`.
In addition, features deprecated in 4.1 will be removed. Please use the last [4.1.1 release](https://github.com/borglab/gtsam/releases/tag/4.1.1) if you need those features. However, most (not all, unfortunately) are easily converted and can be tracked down (in 4.1.1) by disabling the cmake flag `GTSAM_ALLOW_DEPRECATED_SINCE_V41`.
## What is GTSAM?