From a52591c65722feaa724c350836bce41f360967f7 Mon Sep 17 00:00:00 2001
From: HViktorTsoi <cuijiahetony@live.com>
Date: Wed, 8 Jun 2022 16:14:05 +0800
Subject: [PATCH] Move Rot3::quaternion to the deprecated block

---
 gtsam/geometry/Rot3.cpp | 4 +++-
 gtsam/geometry/Rot3.h   | 7 ++++++-
 2 files changed, 9 insertions(+), 2 deletions(-)

diff --git a/gtsam/geometry/Rot3.cpp b/gtsam/geometry/Rot3.cpp
index 08213b065f..0ab41f2619 100644
--- a/gtsam/geometry/Rot3.cpp
+++ b/gtsam/geometry/Rot3.cpp
@@ -228,7 +228,8 @@ double Rot3::yaw(OptionalJacobian<1, 3> H) const {
 }
 
 /* ************************************************************************* */
-Vector Rot3::quaternion() const {
+#ifdef GTSAM_ALLOW_DEPRECATED_SINCE_V42
+Vector GTSAM_DEPRECATED Rot3::quaternion() const {
   gtsam::Quaternion q = toQuaternion();
   Vector v(4);
   v(0) = q.w();
@@ -237,6 +238,7 @@ Vector Rot3::quaternion() const {
   v(3) = q.z();
   return v;
 }
+#endif
 
 /* ************************************************************************* */
 pair<Unit3, double> Rot3::axisAngle() const {
diff --git a/gtsam/geometry/Rot3.h b/gtsam/geometry/Rot3.h
index 18bd88b52c..01ca7778c6 100644
--- a/gtsam/geometry/Rot3.h
+++ b/gtsam/geometry/Rot3.h
@@ -515,11 +515,16 @@ class GTSAM_EXPORT Rot3 : public LieGroup<Rot3, 3> {
      */
     gtsam::Quaternion toQuaternion() const;
 
+#ifdef GTSAM_ALLOW_DEPRECATED_SINCE_V42
     /**
      * Converts to a generic matrix to allow for use with matlab
      * In format: w x y z
+     * @deprecated: use Rot3::toQuaternion() instead.
+     * If still using this API, remind that in the returned Vector `V`,
+     * `V.x()` denotes the actual `qw`, `V.y()` denotes 'qx', `V.z()` denotes `qy`, and `V.w()` denotes 'qz'.
      */
-    Vector quaternion() const;
+    Vector GTSAM_DEPRECATED quaternion() const;
+#endif
 
     /**
      * @brief Spherical Linear intERPolation between *this and other