Use Kernels, deprecate old methods #2227
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Pull Request Overview
This PR introduces a new Kernel-based API for computing Jacobians in SO(3) and semidirect product groups, replacing the old direct method calls with a more systematic approach. The key changes include deprecating old SO(3) methods, adding Gal3 geometry to the Values class, and updating all related code to use the new kernel-based system.
Key changes:
- New
KernelandInvJKernelclasses for systematic Jacobian computation in SO(3) - Updated Gal3 implementation with corrected tangent vector ordering and more efficient computations
- Deprecated old SO(3) methods in favor of kernel-based equivalents (e.g.,
rightJacobianInverse()→InvJacobian().right())
Reviewed Changes
Copilot reviewed 17 out of 18 changed files in this pull request and generated 4 comments.
Show a summary per file
| File | Description |
|---|---|
gtsam/nonlinear/values.i |
Adds Gal3 support and reorders geometry types alphabetically |
gtsam/navigation/TangentPreintegration.cpp |
Updates to use new kernel API |
gtsam/navigation/NavState.cpp |
Migrates from old Jacobian methods to kernel-based approach |
gtsam/geometry/tests/testSO3.cpp |
Updates all tests to use new kernel API |
gtsam/geometry/tests/testGal3.cpp |
Fixes tangent vector ordering and simplifies test implementations |
gtsam/geometry/geometry.i |
Adds SWIG bindings for new Kernel classes |
gtsam/geometry/doc/Jacobians.md |
New comprehensive documentation for kernel-based Jacobian computation |
gtsam/geometry/Similarity3.cpp |
Refactors to use structured kernel approach |
gtsam/geometry/SO3.h |
Deprecates old methods in favor of kernel API |
gtsam/geometry/SO3.cpp |
Implements deprecation guards for old methods |
gtsam/geometry/Pose3.cpp |
Updates to use new kernel methods |
gtsam/geometry/Gal3.cpp |
Major rewrite with corrected tangent ordering and kernel usage |
.github/workflows/*.yml |
Disables deprecated API usage in CI builds |
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This is attempt 3 to land #2222
See Copilot summary.