One flag to rule them all: GTSAM_TYPEDEF_POINTS_TO_VECTORS

CMakeLists.txt

@@ -66,7 +66,7 @@ option(GTSAM_WITH_EIGEN_MKL_OPENMP       "Eigen, when using Intel MKL, will also
 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" OFF)
 option(GTSAM_ALLOW_DEPRECATED_SINCE_V4   "Allow use of methods/functions deprecated in GTSAM 4" ON)
-option(GTSAM_USE_VECTOR3_POINTS          "Simply typdef Point3 to eigen::Vector3d" OFF)
+option(GTSAM_TYPEDEF_POINTS_TO_VECTORS   "Typdef Point2 and Point3 to Eigen::Vector equivalents" OFF)
 option(GTSAM_SUPPORT_NESTED_DISSECTION   "Support Metis-based nested dissection" ON)
 option(GTSAM_TANGENT_PREINTEGRATION      "Use new ImuFactor with integration on tangent space" ON)
 
@@ -91,8 +91,8 @@ if(GTSAM_BUILD_PYTHON AND GTSAM_ALLOW_DEPRECATED_SINCE_V4)
     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.")
 endif()
 
-if(GTSAM_INSTALL_MATLAB_TOOLBOX AND GTSAM_USE_VECTOR3_POINTS)
+if(GTSAM_INSTALL_MATLAB_TOOLBOX AND GTSAM_TYPEDEF_POINTS_TO_VECTORS)
-    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.")
+    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.")
 endif()
 
 # Flags for choosing default packaging tools
@@ -491,7 +491,7 @@ print_config_flag(${GTSAM_ENABLE_CONSISTENCY_CHECKS}   "Runtime consistency chec
 print_config_flag(${GTSAM_ROT3_EXPMAP}                 "Rot3 retract is full ExpMap     ")
 print_config_flag(${GTSAM_POSE3_EXPMAP}                "Pose3 retract is full ExpMap    ")
 print_config_flag(${GTSAM_ALLOW_DEPRECATED_SINCE_V4}   "Deprecated in GTSAM 4 allowed   ")
-print_config_flag(${GTSAM_USE_VECTOR3_POINTS}          "Point3 is typedef to Vector3    ")
+print_config_flag(${GTSAM_TYPEDEF_POINTS_TO_VECTORS}          "Point3 is typedef to Vector3    ")
 print_config_flag(${GTSAM_SUPPORT_NESTED_DISSECTION}   "Metis-based Nested Dissection   ")
 print_config_flag(${GTSAM_TANGENT_PREINTEGRATION}      "Use tangent-space preintegration")
 

gtsam/geometry/Point2.h

@@ -22,6 +22,14 @@
 
 namespace gtsam {
 
+#ifdef GTSAM_TYPEDEF_POINTS_TO_VECTORS
+
+  /// As of GTSAM 4, in order to make GTSAM more lean,
+  /// it is now possible to just typedef Point2 to Vector2
+  typedef Vector2 Point2;
+
+#else
+
 /**
  * A 2D point
  * Complies with the Testable Concept
@@ -172,6 +180,12 @@ private:
  /// @}
 };
 
+template<>
+struct traits<Point2> : public internal::VectorSpace<Point2> {
+};
+
+#endif // GTSAM_TYPEDEF_POINTS_TO_VECTORS
+
 // Convenience typedef
 typedef std::pair<Point2, Point2> Point2Pair;
 std::ostream &operator<<(std::ostream &os, const gtsam::Point2Pair &p);
@@ -184,9 +198,5 @@ inline Point2 operator*(double s, const Point2& p) {
 return p * s;
 }
 
-template<>
-struct traits<Point2> : public internal::VectorSpace<Point2> {
-};
-
 } // \ namespace gtsam
 

gtsam/geometry/Point3.cpp

@@ -21,7 +21,7 @@ using namespace std;
 
 namespace gtsam {
 
-#ifndef GTSAM_USE_VECTOR3_POINTS
+#ifndef GTSAM_TYPEDEF_POINTS_TO_VECTORS
 bool Point3::equals(const Point3 &q, double tol) const {
   return (fabs(x() - q.x()) < tol && fabs(y() - q.y()) < tol &&
           fabs(z() - q.z()) < tol);

gtsam/geometry/Point3.h

@@ -29,7 +29,7 @@
 
 namespace gtsam {
 
-#ifdef GTSAM_USE_VECTOR3_POINTS
+#ifdef GTSAM_TYPEDEF_POINTS_TO_VECTORS
 
   /// As of GTSAM 4, in order to make GTSAM more lean,
   /// it is now possible to just typedef Point3 to Vector3
@@ -153,7 +153,7 @@ struct traits<Point3> : public internal::VectorSpace<Point3> {};
 template<>
 struct traits<const Point3> : public internal::VectorSpace<Point3> {};
 
-#endif
+#endif // GTSAM_TYPEDEF_POINTS_TO_VECTORS
 
 // Convenience typedef
 typedef std::pair<Point3, Point3> Point3Pair;

gtsam/geometry/tests/testPoint3.cpp

@@ -154,7 +154,7 @@ TEST( Point3, cross2) {
 }
 
 /* ************************************************************************* */
-#ifndef GTSAM_USE_VECTOR3_POINTS
+#ifndef GTSAM_TYPEDEF_POINTS_TO_VECTORS
 TEST( Point3, stream) {
   Point3 p(1, 2, -3);
   std::ostringstream os;

python/handwritten/geometry/Point3.cpp

@@ -44,7 +44,7 @@ class_<Point3>("Point3")
   .def("norm", &Point3::norm, norm_overloads(args("OptionalJacobian<1,3>")))
   .def("normalized", &Point3::normalized)
   .def("print", &Point3::print, print_overloads(args("s")))
-#ifndef GTSAM_USE_VECTOR3_POINTS
+#ifndef GTSAM_TYPEDEF_POINTS_TO_VECTORS
   .def("vector", &Point3::vector, return_value_policy<copy_const_reference>())
   .def("x", &Point3::x)
   .def("y", &Point3::y)