From ad01b73eba5a7d888bb9a44e053a56ed713d6e1e Mon Sep 17 00:00:00 2001 From: dellaert Date: Thu, 28 Jan 2016 01:13:55 -0800 Subject: [PATCH] Use new deprecated flag --- gtsam/navigation/CombinedImuFactor.cpp | 2 +- gtsam/navigation/CombinedImuFactor.h | 2 +- gtsam/navigation/ImuFactor.cpp | 4 ++-- gtsam/navigation/ImuFactor.h | 4 ++-- gtsam/navigation/PreintegrationBase.cpp | 4 ++-- gtsam/navigation/PreintegrationBase.h | 8 ++++---- gtsam/navigation/tests/testPoseVelocityBias.cpp | 2 +- 7 files changed, 13 insertions(+), 13 deletions(-) diff --git a/gtsam/navigation/CombinedImuFactor.cpp b/gtsam/navigation/CombinedImuFactor.cpp index bab83a0fb..21bfcbd1e 100644 --- a/gtsam/navigation/CombinedImuFactor.cpp +++ b/gtsam/navigation/CombinedImuFactor.cpp @@ -241,7 +241,7 @@ Vector CombinedImuFactor::evaluateError(const Pose3& pose_i, } //------------------------------------------------------------------------------ -#ifdef ALLOW_DEPRECATED_IN_GTSAM4 +#ifdef GTSAM_ALLOW_DEPRECATED_SINCE_V4 CombinedImuFactor::CombinedImuFactor( Key pose_i, Key vel_i, Key pose_j, Key vel_j, Key bias_i, Key bias_j, const CombinedPreintegratedMeasurements& pim, const Vector3& n_gravity, diff --git a/gtsam/navigation/CombinedImuFactor.h b/gtsam/navigation/CombinedImuFactor.h index bc353c7d9..5fbd619cf 100644 --- a/gtsam/navigation/CombinedImuFactor.h +++ b/gtsam/navigation/CombinedImuFactor.h @@ -278,7 +278,7 @@ public: boost::optional H4 = boost::none, boost::optional H5 = boost::none, boost::optional H6 = boost::none) const; -#ifdef ALLOW_DEPRECATED_IN_GTSAM4 +#ifdef GTSAM_ALLOW_DEPRECATED_SINCE_V4 /// @deprecated typename typedef gtsam::PreintegratedCombinedMeasurements CombinedPreintegratedMeasurements; diff --git a/gtsam/navigation/ImuFactor.cpp b/gtsam/navigation/ImuFactor.cpp index a03dd92f8..7e05c6d41 100644 --- a/gtsam/navigation/ImuFactor.cpp +++ b/gtsam/navigation/ImuFactor.cpp @@ -82,7 +82,7 @@ void PreintegratedImuMeasurements::integrateMeasurement( } //------------------------------------------------------------------------------ -#ifdef ALLOW_DEPRECATED_IN_GTSAM4 +#ifdef GTSAM_ALLOW_DEPRECATED_SINCE_V4 PreintegratedImuMeasurements::PreintegratedImuMeasurements( const imuBias::ConstantBias& biasHat, const Matrix3& measuredAccCovariance, const Matrix3& measuredOmegaCovariance, @@ -159,7 +159,7 @@ Vector ImuFactor::evaluateError(const Pose3& pose_i, const Vector3& vel_i, } //------------------------------------------------------------------------------ -#ifdef ALLOW_DEPRECATED_IN_GTSAM4 +#ifdef GTSAM_ALLOW_DEPRECATED_SINCE_V4 ImuFactor::ImuFactor(Key pose_i, Key vel_i, Key pose_j, Key vel_j, Key bias, const PreintegratedImuMeasurements& pim, const Vector3& n_gravity, const Vector3& omegaCoriolis, const boost::optional& body_P_sensor, diff --git a/gtsam/navigation/ImuFactor.h b/gtsam/navigation/ImuFactor.h index b0b37d73b..616577c36 100644 --- a/gtsam/navigation/ImuFactor.h +++ b/gtsam/navigation/ImuFactor.h @@ -120,7 +120,7 @@ public: /// Return pre-integrated measurement covariance Matrix preintMeasCov() const { return preintMeasCov_; } -#ifdef ALLOW_DEPRECATED_IN_GTSAM4 +#ifdef GTSAM_ALLOW_DEPRECATED_SINCE_V4 /// @deprecated constructor /// NOTE(frank): assumes Z-Down convention, only second order integration supported PreintegratedImuMeasurements(const imuBias::ConstantBias& biasHat, @@ -225,7 +225,7 @@ public: boost::optional H3 = boost::none, boost::optional H4 = boost::none, boost::optional H5 = boost::none) const; -#ifdef ALLOW_DEPRECATED_IN_GTSAM4 +#ifdef GTSAM_ALLOW_DEPRECATED_SINCE_V4 /// @deprecated typename typedef PreintegratedImuMeasurements PreintegratedMeasurements; diff --git a/gtsam/navigation/PreintegrationBase.cpp b/gtsam/navigation/PreintegrationBase.cpp index a26498500..a6d0964dc 100644 --- a/gtsam/navigation/PreintegrationBase.cpp +++ b/gtsam/navigation/PreintegrationBase.cpp @@ -20,7 +20,7 @@ **/ #include "PreintegrationBase.h" -#ifdef ALLOW_DEPRECATED_IN_GTSAM4 +#ifdef GTSAM_ALLOW_DEPRECATED_SINCE_V4 #include #endif @@ -359,7 +359,7 @@ Vector9 PreintegrationBase::computeErrorAndJacobians(const Pose3& pose_i, } //------------------------------------------------------------------------------ -#ifdef ALLOW_DEPRECATED_IN_GTSAM4 +#ifdef GTSAM_ALLOW_DEPRECATED_SINCE_V4 PoseVelocityBias PreintegrationBase::predict(const Pose3& pose_i, const Vector3& vel_i, const imuBias::ConstantBias& bias_i, const Vector3& n_gravity, const Vector3& omegaCoriolis, diff --git a/gtsam/navigation/PreintegrationBase.h b/gtsam/navigation/PreintegrationBase.h index 92f1db8aa..55866bc62 100644 --- a/gtsam/navigation/PreintegrationBase.h +++ b/gtsam/navigation/PreintegrationBase.h @@ -30,7 +30,7 @@ namespace gtsam { -#ifdef ALLOW_DEPRECATED_IN_GTSAM4 +#ifdef GTSAM_ALLOW_DEPRECATED_SINCE_V4 /// @deprecated struct PoseVelocityBias { Pose3 pose; @@ -102,7 +102,7 @@ class PreintegrationBase { /// Parameters. Declared mutable only for deprecated predict method. /// TODO(frank): make const once deprecated method is removed -#ifdef ALLOW_DEPRECATED_IN_GTSAM4 +#ifdef GTSAM_ALLOW_DEPRECATED_SINCE_V4 mutable #endif boost::shared_ptr p_; @@ -181,7 +181,7 @@ public: return *boost::static_pointer_cast(p_); } -#ifdef ALLOW_DEPRECATED_IN_GTSAM4 +#ifdef GTSAM_ALLOW_DEPRECATED_SINCE_V4 void set_body_P_sensor(const Pose3& body_P_sensor) { p_->body_P_sensor = body_P_sensor; } @@ -280,7 +280,7 @@ public: /// @} -#ifdef ALLOW_DEPRECATED_IN_GTSAM4 +#ifdef GTSAM_ALLOW_DEPRECATED_SINCE_V4 /// @name Deprecated /// @{ diff --git a/gtsam/navigation/tests/testPoseVelocityBias.cpp b/gtsam/navigation/tests/testPoseVelocityBias.cpp index 877769c2e..cc2a47498 100644 --- a/gtsam/navigation/tests/testPoseVelocityBias.cpp +++ b/gtsam/navigation/tests/testPoseVelocityBias.cpp @@ -25,7 +25,7 @@ using namespace std; using namespace gtsam; -#ifdef ALLOW_DEPRECATED_IN_GTSAM4 +#ifdef GTSAM_ALLOW_DEPRECATED_SINCE_V4 // Should be seen as between(pvb1,pvb2), i.e., written as pvb2 \omin pvb1 Vector9 error(const PoseVelocityBias& pvb1, const PoseVelocityBias& pvb2) {