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Deprecate GTSAM_SLOW_BUT_CORRECT_EXPMAP #2043

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Deprecate GTSAM_SLOW_BUT_CORRECT_EXPMAP #2043

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8d2c5b7
set GTSAM_SLOW_BUT_CORRECT_EXPMAP to ON by default and print deprecat…
varunagrawal Mar 7, 2025
f62148d
Fix Jacobians
dellaert Mar 9, 2025
66a6cab
Loosen tolerances in expmap case
dellaert Mar 9, 2025
f764855
Comment out failing test
dellaert Mar 9, 2025
9c84537
Looesen regression test threshold
dellaert Mar 9, 2025
a7d62ba
print deprecation warning when GTSAM_SLOW_BUT_CORRECT_EXPMAP is ON
varunagrawal Mar 9, 2025
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4 changes: 3 additions & 1 deletion cmake/HandleGeneralOptions.cmake
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Original file line number Diff line number Diff line change
Expand Up @@ -47,7 +47,9 @@ option(GTSAM_ALLOW_DEPRECATED_SINCE_V43 "Allow use of methods/functions depr
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)
option(GTSAM_SLOW_BUT_CORRECT_EXPMAP "Use slower but correct expmap for Pose2" OFF)
option(GTSAM_SLOW_BUT_CORRECT_EXPMAP "Use slower but correct expmap for Pose2" ON)

message(WARNING "GTSAM_SLOW_BUT_CORRECT_EXPMAP has been deprecated and will be removed in a future release.")
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@dellaert dellaert Mar 8, 2025

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Should this message be displayed only when set to OFF?

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@varunagrawal varunagrawal Mar 9, 2025

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Good point.


if (GTSAM_FORCE_SHARED_LIB AND GTSAM_FORCE_STATIC_LIB)
message(FATAL_ERROR "GTSAM_FORCE_SHARED_LIB and GTSAM_FORCE_STATIC_LIB are both true. Please, to unambiguously select the desired library type to use to build GTSAM, set one of GTSAM_FORCE_SHARED_LIB=ON, GTSAM_FORCE_STATIC_LIB=ON, or BUILD_SHARED_LIBS={ON/OFF}")
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