Fixing 4.3.1-ros gtsam compatibility (#1783)

* Fixing 4.3.1-ros gtsam compatibility

* javobian fix in SwitchVariable

* Fix GTSAM scalar switch traits, Jacobians and attitude API detection

* Separate sigmoid factor correction from GTSAM compatibility

* Correct sigmoid switch Jacobian and add focused factor regression

* combined gtsam tests in same file

* cmake refactor

---------

Co-authored-by: Frank Dellaert <[email protected]>

CMakeLists.txt

@@ -620,14 +620,7 @@ IF(WITH_GTSAM)
     # Force config mode to ignore PCL's findGTSAM.cmake file
     FIND_PACKAGE(GTSAM CONFIG QUIET)
     IF(GTSAM_FOUND)
-      # For issue https://github.com/introlab/rtabmap/pull/1626
-      FIND_FILE(GTSAM_NOISE_MODEL_FACTOR_N_FILE gtsam/nonlinear/NoiseModelFactorN.h
-         PATHS ${GTSAM_INCLUDE_DIR}
-         NO_DEFAULT_PATH)
-      IF(GTSAM_NOISE_MODEL_FACTOR_N_FILE)
-         MESSAGE(STATUS "GTSAM with NoiseModelFactorN.h")
-         ADD_DEFINITIONS("-DGTSAM_WITH_NOISE_MODEL_FACTOR_N")
-      ENDIF(GTSAM_NOISE_MODEL_FACTOR_N_FILE)
+      INCLUDE(${CMAKE_CURRENT_SOURCE_DIR}/cmake_modules/CheckGTSAMFeatures.cmake)
     ENDIF(GTSAM_FOUND)
 ENDIF(WITH_GTSAM)
 
@@ -1064,6 +1057,7 @@ IF(NOT MSVC)
 ENDIF()
 
 
+
 ####### OSX BUNDLE CMAKE_INSTALL_PREFIX #######
 IF(APPLE AND BUILD_AS_BUNDLE)
   IF(Qt6_FOUND OR Qt5_FOUND OR (QT4_FOUND AND QT_QTCORE_FOUND AND QT_QTGUI_FOUND))