From a48864452bd6e5d4226693eda16f9d9f45cb488a Mon Sep 17 00:00:00 2001
From: Duy-Nguyen Ta <thduynguyen@gmail.com>
Date: Fri, 2 Aug 2013 13:28:29 +0000
Subject: [PATCH] fix GTSAM_POSE3_EXPMAP warnings. Add GTSAM_ROT3_EXPMAP
 option.

---
 CMakeLists.txt        |  7 ++-----
 gtsam/config.h.in     |  7 ++++++-
 gtsam/geometry/Rot3.h | 19 ++++++++++++-------
 3 files changed, 20 insertions(+), 13 deletions(-)

diff --git a/CMakeLists.txt b/CMakeLists.txt
index 4fc7fc6bc..b1678a5c2 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -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
 
diff --git a/gtsam/config.h.in b/gtsam/config.h.in
index 9ecfcb3d7..120e06565 100644
--- a/gtsam/config.h.in
+++ b/gtsam/config.h.in
@@ -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 
\ No newline at end of file
+#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
\ No newline at end of file
diff --git a/gtsam/geometry/Rot3.h b/gtsam/geometry/Rot3.h
index 9316ab33d..f4a25ff94 100644
--- a/gtsam/geometry/Rot3.h
+++ b/gtsam/geometry/Rot3.h
@@ -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>