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fix GTSAM_POSE3_EXPMAP warnings. Add GTSAM_ROT3_EXPMAP option.

release/4.3a0
Duy-Nguyen Ta 2013-08-02 13:28:29 +00:00
parent fcc6b804d1
commit a48864452b
3 changed files with 20 additions and 13 deletions
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7
CMakeLists.txt
View File

@ -53,11 +53,12 @@ if(GTSAM_UNSTABLE_AVAILABLE)
endif()
option(GTSAM_BUILD_SHARED_LIBRARY "Enable/Disable building of a shared version of gtsam" ON)
option(GTSAM_BUILD_STATIC_LIBRARY "Enable/Disable building of a static version of gtsam" OFF)
option(GTSAM_USE_QUATERNIONS "Enable/Disable using an internal Quaternion representation for rotations instead of rotation matrices" OFF)
option(GTSAM_USE_QUATERNIONS "Enable/Disable using an internal Quaternion representation for rotations instead of rotation matrices. If enable, Rot3::EXPMAP is enforced by default." OFF)
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_ROT3_EXPMAP "Ignore if GTSAM_USE_QUATERNIONS is OFF (Rot3::EXPMAP by default). Otherwise, enable Rot3::EXPMAP, or if disabled, use Rot3::CAYLEY." OFF)
option(GTSAM_ENABLE_CONSISTENCY_CHECKS "Enable/Disable expensive consistency checks" OFF)
# Options relating to MATLAB wrapper
@ -181,10 +182,6 @@ if(GTSAM_ENABLE_CONSISTENCY_CHECKS)
add_definitions(-DGTSAM_EXTRA_CONSISTENCY_CHECKS)
endif()
if(GTSAM_POSE3_EXPMAP)
add_definitions(-DGTSAM_POSE3_EXPMAP)
endif()
###############################################################################
# Add components

7
gtsam/config.h.in
View File

@ -25,4 +25,9 @@
#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
#cmakedefine GTSAM_POSE3_EXPMAP
// Whether GTSAM is compiled to use Rot3::EXPMAP as the default coordinates mode for Rot3's retract and localCoordinates (otherwise, Pose3::CAYLEY will be used)
#ifndef GTSAM_USE_QUATERNIONS
#cmakedefine GTSAM_ROT3_EXPMAP
#endif

19
gtsam/geometry/Rot3.h
View File

@ -25,13 +25,18 @@
// You can override the default coordinate mode using this flag
#ifndef ROT3_DEFAULT_COORDINATES_MODE
#ifdef GTSAM_USE_QUATERNIONS
// Exponential map is very cheap for quaternions
#define ROT3_DEFAULT_COORDINATES_MODE Rot3::EXPMAP
#else
// For rotation matrices, the Cayley transform is a fast retract alternative
#define ROT3_DEFAULT_COORDINATES_MODE Rot3::CAYLEY
#endif
#ifdef GTSAM_USE_QUATERNIONS
// Exponential map is very cheap for quaternions
#define ROT3_DEFAULT_COORDINATES_MODE Rot3::EXPMAP
#else
// If user doesn't require GTSAM_ROT3_EXPMAP in cmake when building
#ifndef GTSAM_ROT3_EXPMAP
// For rotation matrices, the Cayley transform is a fast retract alternative
#define ROT3_DEFAULT_COORDINATES_MODE Rot3::CAYLEY
#else
#define ROT3_DEFAULT_COORDINATES_MODE Rot3::EXPMAP
#endif
#endif
#endif
#include <gtsam/base/DerivedValue.h>