Use Kernel infra, fully deprecate old so3 functors #2222
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Pull Request Overview
This PR represents the second part of a refactoring effort to use a new "Kernel infrastructure" for SO(3) operations and fully deprecate old SO(3) functors. The changes modernize GTSAM's internal SO(3) implementations by replacing the deprecated DexpFunctor and ExpmapFunctor classes with a new so3::Local and so3::Kernel API that provides improved efficiency and cleaner interfaces.
Key changes include:
- Replace deprecated SO(3) functors (
DexpFunctor,ExpmapFunctor) with new kernel-basedso3::LocalAPI - Update all dependent geometry classes (NavState, Pose3, TangentPreintegration, etc.) to use the new API
- Reorganize Values interface declarations for better consistency
- Add comprehensive documentation explaining the theoretical foundations
Reviewed Changes
Copilot reviewed 17 out of 18 changed files in this pull request and generated no comments.
Show a summary per file
| File | Description |
|---|---|
| gtsam/nonlinear/values.i | Reorganizes Values interface method declarations and adds Gal3 support |
| gtsam/navigation/TangentPreintegration.cpp | Updates to use new so3::Local API instead of DexpFunctor |
| gtsam/navigation/NavState.cpp | Replaces DexpFunctor with so3::Local and improves efficiency |
| gtsam/geometry/tests/testSO3.cpp | Updates test cases to use new kernel API and adds new tests |
| gtsam/geometry/tests/testGal3.cpp | Comprehensive test updates with corrected tangent vector ordering |
| gtsam/geometry/geometry.i | Updates SWIG interface to expose new kernel classes |
| gtsam/geometry/doc/Jacobians.md | Adds extensive documentation on kernel theory and implementation |
| gtsam/geometry/Similarity3.cpp | Refactors V kernel implementation using new infrastructure |
| gtsam/geometry/SO3.h | Removes deprecated function declarations |
| gtsam/geometry/Pose3.cpp | Updates to use new so3::Local API |
| gtsam/geometry/Kernel.h | Adds deprecation guards around old functor classes |
| gtsam/geometry/Kernel.cpp | Adds deprecation guards around old functor implementations |
| gtsam/geometry/Gal3.cpp | Major refactoring with corrected tangent vector ordering and new kernel usage |
| .github/workflows/*.yml | Disables deprecated API usage in CI builds |
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This is the second part of #2213, attempting to merge with cleaner history and resolve ultra-slow CI.