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Correct the Jacobian calculation of GravityFactor (#1692)

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* correct the Jacobian calculation of GravityFactor

* reimplement GravityFactor's analytical Jacobian

* adopt some minor changes from the GTSAM mainline

* use GTSAM's native AttitudeFactor instead of GravityFactor

* add missing header file and namespace prefix

* Removed GravityFactor. Fixed build with latest GTSAM version from source. Require c++17 when building with GTSAM>=4.3.0.

* Fixed cmake error when gtsam is not installed

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Co-authored-by: matlabbe <matlabbe@gmail.com>
This commit is contained in:
Borong Yuan
2026-04-27 06:33:05 +08:00
committed by GitHub
parent aa6d20775f
commit ebba7e4878
10 changed files with 36 additions and 393 deletions
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CMakeLists.txt
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@@ -931,7 +931,7 @@ IF(NOT (APPLE OR WIN32) AND BUILD_WITH_RPATH_NOT_RUNPATH)
ENDIF()
IF(NOT MSVC)
IF(Qt6_FOUND OR (G2O_FOUND AND G2O_CPP11 EQUAL 1) OR TORCH_FOUND OR MRPT_FOUND)
IF(Qt6_FOUND OR (G2O_FOUND AND G2O_CPP11 EQUAL 1) OR (GTSAM_FOUND AND GTSAM_VERSION VERSION_GREATER_EQUAL "4.3.0") OR TORCH_FOUND OR MRPT_FOUND)
# Qt6 requires c++17
include(CheckCXXCompilerFlag)
CHECK_CXX_COMPILER_FLAG("-std=c++17" COMPILER_SUPPORTS_CXX17)