From ac2db387d6b28a9ad5549bca9e9755aaf3b747c9 Mon Sep 17 00:00:00 2001
From: Frank Dellaert <dellaert@gmail.com>
Date: Fri, 20 Jan 2023 22:44:42 -0800
Subject: [PATCH] Switch flag to V43

---
 .github/scripts/python.sh            | 2 +-
 .github/scripts/unix.sh              | 2 +-
 .github/workflows/build-special.yml  | 4 ++--
 cmake/HandleGeneralOptions.cmake     | 2 +-
 cmake/HandlePrintConfiguration.cmake | 2 +-
 gtsam/config.h.in                    | 2 +-
 6 files changed, 7 insertions(+), 7 deletions(-)

diff --git a/.github/scripts/python.sh b/.github/scripts/python.sh
index 718eee5ea..99fddda68 100644
--- a/.github/scripts/python.sh
+++ b/.github/scripts/python.sh
@@ -79,7 +79,7 @@ function build()
       -DGTSAM_UNSTABLE_BUILD_PYTHON=${GTSAM_BUILD_UNSTABLE:-ON} \
       -DGTSAM_PYTHON_VERSION=$PYTHON_VERSION \
       -DPYTHON_EXECUTABLE:FILEPATH=$(which $PYTHON) \
-      -DGTSAM_ALLOW_DEPRECATED_SINCE_V42=OFF \
+      -DGTSAM_ALLOW_DEPRECATED_SINCE_V43=OFF \
       -DCMAKE_INSTALL_PREFIX=$GITHUB_WORKSPACE/gtsam_install
 
 
diff --git a/.github/scripts/unix.sh b/.github/scripts/unix.sh
index b5a559df5..87b0a3100 100644
--- a/.github/scripts/unix.sh
+++ b/.github/scripts/unix.sh
@@ -64,7 +64,7 @@ function configure()
       -DGTSAM_BUILD_UNSTABLE=${GTSAM_BUILD_UNSTABLE:-ON} \
       -DGTSAM_WITH_TBB=${GTSAM_WITH_TBB:-OFF} \
       -DGTSAM_BUILD_EXAMPLES_ALWAYS=${GTSAM_BUILD_EXAMPLES_ALWAYS:-ON} \
-      -DGTSAM_ALLOW_DEPRECATED_SINCE_V42=${GTSAM_ALLOW_DEPRECATED_SINCE_V42:-OFF} \
+      -DGTSAM_ALLOW_DEPRECATED_SINCE_V43=${GTSAM_ALLOW_DEPRECATED_SINCE_V43:-OFF} \
       -DGTSAM_USE_QUATERNIONS=${GTSAM_USE_QUATERNIONS:-OFF} \
       -DGTSAM_ROT3_EXPMAP=${GTSAM_ROT3_EXPMAP:-ON} \
       -DGTSAM_POSE3_EXPMAP=${GTSAM_POSE3_EXPMAP:-ON} \
diff --git a/.github/workflows/build-special.yml b/.github/workflows/build-special.yml
index ef7d7723d..458394211 100644
--- a/.github/workflows/build-special.yml
+++ b/.github/workflows/build-special.yml
@@ -110,8 +110,8 @@ jobs:
       - name: Set Allow Deprecated Flag
         if: matrix.flag == 'deprecated'
         run: |
-          echo "GTSAM_ALLOW_DEPRECATED_SINCE_V42=ON" >> $GITHUB_ENV
-          echo "Allow deprecated since version 4.1"
+          echo "GTSAM_ALLOW_DEPRECATED_SINCE_V43=ON" >> $GITHUB_ENV
+          echo "Allow deprecated since version 4.3"
 
       - name: Set Use Quaternions Flag
         if: matrix.flag == 'quaternions'
diff --git a/cmake/HandleGeneralOptions.cmake b/cmake/HandleGeneralOptions.cmake
index 7c8f8533f..64fa6b407 100644
--- a/cmake/HandleGeneralOptions.cmake
+++ b/cmake/HandleGeneralOptions.cmake
@@ -25,7 +25,7 @@ option(GTSAM_WITH_EIGEN_MKL_OPENMP          "Eigen, when using Intel MKL, will a
 option(GTSAM_THROW_CHEIRALITY_EXCEPTION     "Throw exception when a triangulated point is behind a camera" ON)
 option(GTSAM_BUILD_PYTHON                   "Enable/Disable building & installation of Python module with pybind11" OFF)
 option(GTSAM_INSTALL_MATLAB_TOOLBOX         "Enable/Disable installation of matlab toolbox"  OFF)
-option(GTSAM_ALLOW_DEPRECATED_SINCE_V42     "Allow use of methods/functions deprecated in GTSAM 4.1" ON)
+option(GTSAM_ALLOW_DEPRECATED_SINCE_V43     "Allow use of methods/functions deprecated in GTSAM 4.3" ON)
 option(GTSAM_SUPPORT_NESTED_DISSECTION      "Support Metis-based nested dissection" ON)
 option(GTSAM_TANGENT_PREINTEGRATION         "Use new ImuFactor with integration on tangent space" ON)
 option(GTSAM_SLOW_BUT_CORRECT_BETWEENFACTOR "Use the slower but correct version of BetweenFactor" OFF)
diff --git a/cmake/HandlePrintConfiguration.cmake b/cmake/HandlePrintConfiguration.cmake
index 04d27c27f..dd3f6fc1f 100644
--- a/cmake/HandlePrintConfiguration.cmake
+++ b/cmake/HandlePrintConfiguration.cmake
@@ -87,7 +87,7 @@ print_enabled_config(${GTSAM_USE_QUATERNIONS}             "Quaternions as defaul
 print_enabled_config(${GTSAM_ENABLE_CONSISTENCY_CHECKS}   "Runtime consistency checking    ")
 print_enabled_config(${GTSAM_ROT3_EXPMAP}                 "Rot3 retract is full ExpMap     ")
 print_enabled_config(${GTSAM_POSE3_EXPMAP}                "Pose3 retract is full ExpMap    ")
-print_enabled_config(${GTSAM_ALLOW_DEPRECATED_SINCE_V42}  "Allow features deprecated in GTSAM 4.1")
+print_enabled_config(${GTSAM_ALLOW_DEPRECATED_SINCE_V43}  "Allow features deprecated in GTSAM 4.3")
 print_enabled_config(${GTSAM_SUPPORT_NESTED_DISSECTION}   "Metis-based Nested Dissection   ")
 print_enabled_config(${GTSAM_TANGENT_PREINTEGRATION}      "Use tangent-space preintegration")
 
diff --git a/gtsam/config.h.in b/gtsam/config.h.in
index d47329a62..7f8936d1e 100644
--- a/gtsam/config.h.in
+++ b/gtsam/config.h.in
@@ -70,7 +70,7 @@
 #cmakedefine GTSAM_THROW_CHEIRALITY_EXCEPTION
 
 // Make sure dependent projects that want it can see deprecated functions
-#cmakedefine GTSAM_ALLOW_DEPRECATED_SINCE_V42
+#cmakedefine GTSAM_ALLOW_DEPRECATED_SINCE_V43
 
 // Support Metis-based nested dissection
 #cmakedefine GTSAM_SUPPORT_NESTED_DISSECTION