Make sure compiles without deprecated

dellaert · dellaert · commit fccf3cedd9d8 · 2024-06-09T15:10:12.000-07:00
diff --git a/gtsam/navigation/PreintegratedRotation.cpp b/gtsam/navigation/PreintegratedRotation.cpp
@@ -110,7 +110,7 @@ void PreintegratedRotation::integrateGyroMeasurement(
   delRdelBiasOmega_ = incrRt * delRdelBiasOmega_ + H_bias;
 }
 
-// deprecated!
+#ifdef GTSAM_ALLOW_DEPRECATED_SINCE_V43
 void PreintegratedRotation::integrateMeasurement(
     const Vector3& measuredOmega, const Vector3& biasHat, double deltaT,
     OptionalJacobian<3, 3> optional_D_incrR_integratedOmega,
@@ -125,6 +125,7 @@ void PreintegratedRotation::integrateMeasurement(
     *optional_D_incrR_integratedOmega << H_bias / -deltaT;
   }
 }
+#endif
 
 Rot3 PreintegratedRotation::biascorrectedDeltaRij(const Vector3& biasOmegaIncr,
     OptionalJacobian<3, 3> H) const {

Original file line number	Diff line number	Diff line change
`@@ -110,7 +110,7 @@ void PreintegratedRotation::integrateGyroMeasurement(`
`110`	`110`	`delRdelBiasOmega_ = incrRt * delRdelBiasOmega_ + H_bias;`
`111`	`111`	`}`
`112`	`112`
`113`		`-// deprecated!`
	`113`	`+#ifdef GTSAM_ALLOW_DEPRECATED_SINCE_V43`
`114`	`114`	`void PreintegratedRotation::integrateMeasurement(`
`115`	`115`	`const Vector3& measuredOmega, const Vector3& biasHat, double deltaT,`
`116`	`116`	`OptionalJacobian<3, 3> optional_D_incrR_integratedOmega,`
`@@ -125,6 +125,7 @@ void PreintegratedRotation::integrateMeasurement(`
`125`	`125`	`*optional_D_incrR_integratedOmega << H_bias / -deltaT;`
`126`	`126`	`}`
`127`	`127`	`}`
	`128`	`+#endif`
`128`	`129`
`129`	`130`	`Rot3 PreintegratedRotation::biascorrectedDeltaRij(const Vector3& biasOmegaIncr,`
`130`	`131`	`OptionalJacobian<3, 3> H) const {`