One flag to rule them all: GTSAM_TYPEDEF_POINTS_TO_VECTORS
Frank
parent
0799cda9de
commit
be21889e9d
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@ -66,7 +66,7 @@ option(GTSAM_WITH_EIGEN_MKL_OPENMP "Eigen, when using Intel MKL, will also
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option(GTSAM_THROW_CHEIRALITY_EXCEPTION "Throw exception when a triangulated point is behind a camera" ON)
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option(GTSAM_BUILD_PYTHON "Enable/Disable building & installation of Python module" OFF)
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option(GTSAM_ALLOW_DEPRECATED_SINCE_V4 "Allow use of methods/functions deprecated in GTSAM 4" ON)
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option(GTSAM_USE_VECTOR3_POINTS "Simply typdef Point3 to eigen::Vector3d" OFF)
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option(GTSAM_TYPEDEF_POINTS_TO_VECTORS "Typdef Point2 and Point3 to Eigen::Vector equivalents" OFF)
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option(GTSAM_SUPPORT_NESTED_DISSECTION "Support Metis-based nested dissection" ON)
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option(GTSAM_TANGENT_PREINTEGRATION "Use new ImuFactor with integration on tangent space" ON)
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@ -91,8 +91,8 @@ if(GTSAM_BUILD_PYTHON AND GTSAM_ALLOW_DEPRECATED_SINCE_V4)
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message(FATAL_ERROR "GTSAM_BUILD_PYTHON and GTSAM_ALLOW_DEPRECATED_SINCE_V4 are both enabled. The python module cannot be compiled with deprecated functions turned on. Turn one of the two options off.")
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endif()
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if(GTSAM_INSTALL_MATLAB_TOOLBOX AND GTSAM_USE_VECTOR3_POINTS)
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message(FATAL_ERROR "GTSAM_INSTALL_MATLAB_TOOLBOX and GTSAM_USE_VECTOR3_POINTS are both enabled. For now, the MATLAB toolbox cannot deal with this yet. Please turn one of the two options off.")
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if(GTSAM_INSTALL_MATLAB_TOOLBOX AND GTSAM_TYPEDEF_POINTS_TO_VECTORS)
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message(FATAL_ERROR "GTSAM_INSTALL_MATLAB_TOOLBOX and GTSAM_TYPEDEF_POINTS_TO_VECTORS are both enabled. For now, the MATLAB toolbox cannot deal with this yet. Please turn one of the two options off.")
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endif()
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# Flags for choosing default packaging tools
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@ -491,7 +491,7 @@ print_config_flag(${GTSAM_ENABLE_CONSISTENCY_CHECKS} "Runtime consistency chec
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print_config_flag(${GTSAM_ROT3_EXPMAP} "Rot3 retract is full ExpMap ")
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print_config_flag(${GTSAM_POSE3_EXPMAP} "Pose3 retract is full ExpMap ")
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print_config_flag(${GTSAM_ALLOW_DEPRECATED_SINCE_V4} "Deprecated in GTSAM 4 allowed ")
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print_config_flag(${GTSAM_USE_VECTOR3_POINTS} "Point3 is typedef to Vector3 ")
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print_config_flag(${GTSAM_TYPEDEF_POINTS_TO_VECTORS} "Point3 is typedef to Vector3 ")
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print_config_flag(${GTSAM_SUPPORT_NESTED_DISSECTION} "Metis-based Nested Dissection ")
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print_config_flag(${GTSAM_TANGENT_PREINTEGRATION} "Use tangent-space preintegration")
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@ -22,6 +22,14 @@
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namespace gtsam {
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#ifdef GTSAM_TYPEDEF_POINTS_TO_VECTORS
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/// As of GTSAM 4, in order to make GTSAM more lean,
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/// it is now possible to just typedef Point2 to Vector2
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typedef Vector2 Point2;
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#else
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/**
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* A 2D point
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* Complies with the Testable Concept
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@ -172,6 +180,12 @@ private:
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/// @}
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};
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template<>
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struct traits<Point2> : public internal::VectorSpace<Point2> {
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};
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#endif // GTSAM_TYPEDEF_POINTS_TO_VECTORS
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// Convenience typedef
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typedef std::pair<Point2, Point2> Point2Pair;
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std::ostream &operator<<(std::ostream &os, const gtsam::Point2Pair &p);
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@ -184,9 +198,5 @@ inline Point2 operator*(double s, const Point2& p) {
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return p * s;
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}
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template<>
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struct traits<Point2> : public internal::VectorSpace<Point2> {
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};
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} // \ namespace gtsam
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@ -21,7 +21,7 @@ using namespace std;
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namespace gtsam {
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#ifndef GTSAM_USE_VECTOR3_POINTS
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#ifndef GTSAM_TYPEDEF_POINTS_TO_VECTORS
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bool Point3::equals(const Point3 &q, double tol) const {
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return (fabs(x() - q.x()) < tol && fabs(y() - q.y()) < tol &&
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fabs(z() - q.z()) < tol);
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@ -29,7 +29,7 @@
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namespace gtsam {
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#ifdef GTSAM_USE_VECTOR3_POINTS
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#ifdef GTSAM_TYPEDEF_POINTS_TO_VECTORS
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/// As of GTSAM 4, in order to make GTSAM more lean,
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/// it is now possible to just typedef Point3 to Vector3
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@ -153,7 +153,7 @@ struct traits<Point3> : public internal::VectorSpace<Point3> {};
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template<>
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struct traits<const Point3> : public internal::VectorSpace<Point3> {};
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#endif
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#endif // GTSAM_TYPEDEF_POINTS_TO_VECTORS
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// Convenience typedef
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typedef std::pair<Point3, Point3> Point3Pair;
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@ -154,7 +154,7 @@ TEST( Point3, cross2) {
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}
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/* ************************************************************************* */
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#ifndef GTSAM_USE_VECTOR3_POINTS
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#ifndef GTSAM_TYPEDEF_POINTS_TO_VECTORS
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TEST( Point3, stream) {
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Point3 p(1, 2, -3);
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std::ostringstream os;
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@ -44,7 +44,7 @@ class_<Point3>("Point3")
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.def("norm", &Point3::norm, norm_overloads(args("OptionalJacobian<1,3>")))
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.def("normalized", &Point3::normalized)
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.def("print", &Point3::print, print_overloads(args("s")))
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#ifndef GTSAM_USE_VECTOR3_POINTS
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#ifndef GTSAM_TYPEDEF_POINTS_TO_VECTORS
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.def("vector", &Point3::vector, return_value_policy<copy_const_reference>())
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.def("x", &Point3::x)
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.def("y", &Point3::y)
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