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Generic Eigen::Matrix serialization for boost

release/4.3a0
Varun Agrawal 2020-07-09 23:12:35 -04:00
parent 0f0752fd1f
commit 018e6ba68c
1 changed files with 34 additions and 7 deletions
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41
gtsam/base/Matrix.h
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@ -549,16 +549,32 @@ namespace boost {
namespace serialization {
// split version - sends sizes ahead
template<class Archive>
void save(Archive & ar, const gtsam::Matrix & m, unsigned int /*version*/) {
template<class Archive,
typename Scalar_,
int Rows_,
int Cols_,
int Ops_,
int MaxRows_,
int MaxCols_>
void save(Archive & ar,
const Eigen::Matrix<Scalar_, Rows_, Cols_, Ops_, MaxRows_, MaxCols_> & m,
const unsigned int /*version*/) {
const size_t rows = m.rows(), cols = m.cols();
ar << BOOST_SERIALIZATION_NVP(rows);
ar << BOOST_SERIALIZATION_NVP(cols);
ar << make_nvp("data", make_array(m.data(), m.size()));
}
template<class Archive>
void load(Archive & ar, gtsam::Matrix & m, unsigned int /*version*/) {
template<class Archive,
typename Scalar_,
int Rows_,
int Cols_,
int Ops_,
int MaxRows_,
int MaxCols_>
void load(Archive & ar,
Eigen::Matrix<Scalar_, Rows_, Cols_, Ops_, MaxRows_, MaxCols_> & m,
const unsigned int /*version*/) {
size_t rows, cols;
ar >> BOOST_SERIALIZATION_NVP(rows);
ar >> BOOST_SERIALIZATION_NVP(cols);
@ -566,8 +582,19 @@ namespace boost {
ar >> make_nvp("data", make_array(m.data(), m.size()));
}
// templated version of BOOST_SERIALIZATION_SPLIT_FREE(Eigen::Matrix);
template<class Archive,
typename Scalar_,
int Rows_,
int Cols_,
int Ops_,
int MaxRows_,
int MaxCols_>
void serialize(Archive & ar,
Eigen::Matrix<Scalar_, Rows_, Cols_, Ops_, MaxRows_, MaxCols_> & m,
const unsigned int version) {
split_free(ar, m, version);
}
} // namespace serialization
} // namespace boost
BOOST_SERIALIZATION_SPLIT_FREE(gtsam::Matrix);