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release/4.3a0
dellaert 2016-05-15 13:15:37 -07:00
parent 34513f92b4
commit fb0a5489d7
2 changed files with 12 additions and 7 deletions
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16
CMakeLists.txt
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@ -68,6 +68,7 @@ option(GTSAM_BUILD_PYTHON "Enable/Disable building & installation
option(GTSAM_ALLOW_DEPRECATED_SINCE_V4 "Allow use of methods/functions deprecated in GTSAM 4" ON) 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_USE_VECTOR3_POINTS "Simply typdef Point3 to eigen::Vector3d" OFF)
option(GTSAM_SUPPORT_NESTED_DISSECTION "Support Metis-based nested dissection" 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)
# Options relating to MATLAB wrapper # Options relating to MATLAB wrapper
# TODO: Check for matlab mex binary before handling building of binaries # TODO: Check for matlab mex binary before handling building of binaries
@ -485,13 +486,14 @@ message(STATUS " CPack Source Generator : ${CPACK_SOURCE_GENERATOR}")
message(STATUS " CPack Generator : ${CPACK_GENERATOR}") message(STATUS " CPack Generator : ${CPACK_GENERATOR}")
message(STATUS "GTSAM flags ") message(STATUS "GTSAM flags ")
print_config_flag(${GTSAM_USE_QUATERNIONS} "Quaternions as default Rot3 ") print_config_flag(${GTSAM_USE_QUATERNIONS} "Quaternions as default Rot3 ")
print_config_flag(${GTSAM_ENABLE_CONSISTENCY_CHECKS} "Runtime consistency checking ") print_config_flag(${GTSAM_ENABLE_CONSISTENCY_CHECKS} "Runtime consistency checking ")
print_config_flag(${GTSAM_ROT3_EXPMAP} "Rot3 retract is full ExpMap ") 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(${GTSAM_POSE3_EXPMAP} "Pose3 retract is full ExpMap ")
print_config_flag(${GTSAM_ALLOW_DEPRECATED_SINCE_V4} "Deprecated in GTSAM 4 allowed ") 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(${GTSAM_USE_VECTOR3_POINTS} "Point3 is typedef to Vector3 ")
print_config_flag(${GTSAM_SUPPORT_NESTED_DISSECTION} "Metis-based Nested Dissection ") print_config_flag(${GTSAM_SUPPORT_NESTED_DISSECTION} "Metis-based Nested Dissection ")
print_config_flag(${GTSAM_TANGENT_PREINTEGRATION} "Use tangent-space preintegration")
message(STATUS "MATLAB toolbox flags ") message(STATUS "MATLAB toolbox flags ")
print_config_flag(${GTSAM_INSTALL_MATLAB_TOOLBOX} "Install matlab toolbox ") print_config_flag(${GTSAM_INSTALL_MATLAB_TOOLBOX} "Install matlab toolbox ")

3
gtsam/config.h.in
View File

@ -68,3 +68,6 @@
// Support Metis-based nested dissection // Support Metis-based nested dissection
#cmakedefine GTSAM_SUPPORT_NESTED_DISSECTION #cmakedefine GTSAM_SUPPORT_NESTED_DISSECTION
// Support Metis-based nested dissection
#cmakedefine GTSAM_TANGENT_PREINTEGRATION