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SE2(3) representation and Lie group pre-integration of Brossard et al. #1916

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SE2(3) representation and Lie group pre-integration of Brossard et al. #1916

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cf2d7ca
Add options for lie group preintegration
stefan-gaechter-hxgn-geosystems Nov 25, 2024
41fd7b5
Add extended pose
stefan-gaechter-hxgn-geosystems Nov 25, 2024
ad3e6b9
Add Lie group pre-integration
stefan-gaechter-hxgn-geosystems Nov 25, 2024
05d54bb
Use extended pose in NavState
stefan-gaechter-hxgn-geosystems Nov 25, 2024
a1351b8
Enable Lie group pre-integration
stefan-gaechter-hxgn-geosystems Nov 25, 2024
4e289b6
Consider rotating earth
stefan-gaechter-hxgn-geosystems Nov 25, 2024
8270007
Merge branch 'develop' into feature/lie_group_preint_dev
dellaert Jan 10, 2025
bdb5432
Fix boost issues
dellaert Jan 10, 2025
62b22b2
Inlined everything
dellaert Jan 10, 2025
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2 changes: 2 additions & 0 deletions cmake/HandleGeneralOptions.cmake
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Expand Up @@ -31,6 +31,7 @@ option(GTSAM_FORCE_STATIC_LIB "Force gtsam to be a static library,
option(GTSAM_USE_QUATERNIONS "Enable/Disable using an internal Quaternion representation for rotations instead of rotation matrices. If enable, Rot3::EXPMAP is enforced by default." OFF)
option(GTSAM_POSE3_EXPMAP "Enable/Disable using Pose3::EXPMAP as the default mode. If disabled, Pose3::FIRST_ORDER will be used." ON)
option(GTSAM_ROT3_EXPMAP "Ignore if GTSAM_USE_QUATERNIONS is OFF (Rot3::EXPMAP by default). Otherwise, enable Rot3::EXPMAP, or if disabled, use Rot3::CAYLEY." ON)
option(GTSAM_EXTENDED_POSE_RETRACT "Enable/Disable using ExtendedPose3::Retract as the default for NavState" OFF)
option(GTSAM_DT_MERGING "Enable/Disable merging of equal leaf nodes in DecisionTrees. This leads to significant speed up and memory savings." ON)
option(GTSAM_ENABLE_CONSISTENCY_CHECKS "Enable/Disable expensive consistency checks" OFF)
option(GTSAM_ENABLE_MEMORY_SANITIZER "Enable/Disable memory sanitizer" OFF)
Expand All @@ -43,6 +44,7 @@ option(GTSAM_INSTALL_MATLAB_TOOLBOX "Enable/Disable installation of matl
option(GTSAM_ALLOW_DEPRECATED_SINCE_V43 "Allow use of methods/functions deprecated in GTSAM 4.3" 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)
option(GTSAM_LIEGROUP_PREINTEGRATION "Use IMU pre-integration based on Lie groups" OFF)
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)

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2 changes: 2 additions & 0 deletions cmake/HandlePrintConfiguration.cmake
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Expand Up @@ -90,10 +90,12 @@ print_enabled_config(${GTSAM_ENABLE_CONSISTENCY_CHECKS} "Runtime consistency c
print_enabled_config(${GTSAM_ENABLE_MEMORY_SANITIZER} "Build with Memory Sanitizer ")
print_enabled_config(${GTSAM_ROT3_EXPMAP} "Rot3 retract is full ExpMap ")
print_enabled_config(${GTSAM_POSE3_EXPMAP} "Pose3 retract is full ExpMap ")
print_enabled_config(${GTSAM_EXTENDED_POSE_RETRACT} "NavState uses ExtendedPose3 retract")
print_enabled_config(${GTSAM_DT_MERGING} "Enable branch merging in DecisionTree")
print_enabled_config(${GTSAM_ALLOW_DEPRECATED_SINCE_V43} "Allow features deprecated in GTSAM 4.3")
print_enabled_config(${GTSAM_SUPPORT_NESTED_DISSECTION} "Metis-based Nested Dissection ")
print_enabled_config(${GTSAM_TANGENT_PREINTEGRATION} "Use tangent-space preintegration")
print_enabled_config(${GTSAM_LIEGROUP_PREINTEGRATION} "Use Lie group based preintegration")

message(STATUS "MATLAB toolbox flags")
print_enabled_config(${GTSAM_INSTALL_MATLAB_TOOLBOX} "Install MATLAB toolbox ")
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8 changes: 7 additions & 1 deletion gtsam/config.h.in
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Expand Up @@ -39,6 +39,9 @@
#cmakedefine GTSAM_ROT3_EXPMAP
#endif

// Whether GTSAM is compiled to use ExtendedPose3::Retract as the default for NavState
#cmakedefine GTSAM_EXTENDED_POSE_RETRACT

// Whether to enable merging of equal leaf nodes in the Discrete Decision Tree.
#cmakedefine GTSAM_DT_MERGING

Expand Down Expand Up @@ -78,9 +81,12 @@
// Support Metis-based nested dissection
#cmakedefine GTSAM_SUPPORT_NESTED_DISSECTION

// Support Metis-based nested dissection
// Whether to use IMU pre-integration on tangent space
#cmakedefine GTSAM_TANGENT_PREINTEGRATION

// Whether to use IMU pre-integration based on Lie groups
#cmakedefine GTSAM_LIEGROUP_PREINTEGRATION

// Whether to use the system installed Metis instead of the provided one
#cmakedefine GTSAM_USE_SYSTEM_METIS

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