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Fixed one unit test

release/4.3a0
Paul Furgale 2014-11-01 11:47:56 +01:00
parent 5e51745b86
commit 15ab2b27bc
3 changed files with 32 additions and 13 deletions
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4
gtsam/base/ChartValue.h
View File

@ -158,9 +158,9 @@ private:
friend class boost::serialization::access;
template<class ARCHIVE>
void serialize(ARCHIVE & ar, const unsigned int version) {
ar & boost::serialization::make_nvp("value", GenericValue<T>::value());
// ar & boost::serialization::make_nvp("value",);
// todo: implement a serialization for charts
//ar & boost::serialization::make_nvp("Chart", boost::serialization::base_object<typename Chart>(*this));
ar & boost::serialization::make_nvp("GenericValue", boost::serialization::base_object< GenericValue<T> >(*this));
}
/// @}

8
gtsam/base/GenericValue.h
View File

@ -56,7 +56,6 @@ public:
virtual bool equals_(const Value& p, double tol = 1e-9) const {
// Cast the base class Value pointer to a templated generic class pointer
const GenericValue& genericValue2 = static_cast<const GenericValue&>(p);
// Return the result of using the equals traits for the derived class
return traits::equals<T>(this->value_, genericValue2.value_, tol);
}
@ -69,7 +68,12 @@ public:
virtual void print(const std::string& str) const {
traits::print<T>(value_,str);
}
friend class boost::serialization::access;
template<class ARCHIVE>
void serialize(ARCHIVE & ar, const unsigned int version) {
ar & BOOST_SERIALIZATION_BASE_OBJECT_NVP(Value);
ar & BOOST_SERIALIZATION_NVP(value_);
}
protected:
/// Assignment operator for this class not needed since GenricValue<T> is an abstract class

33
gtsam/nonlinear/tests/testSerializationNonlinear.cpp
View File

@ -32,22 +32,37 @@ using namespace gtsam::serializationTestHelpers;
/* ************************************************************************* */
// Export all classes derived from Value
BOOST_CLASS_EXPORT(gtsam::Cal3_S2)
BOOST_CLASS_EXPORT(gtsam::Cal3Bundler)
BOOST_CLASS_EXPORT(gtsam::Point3)
BOOST_CLASS_EXPORT(gtsam::Pose3)
BOOST_CLASS_EXPORT(gtsam::Rot3)
BOOST_CLASS_EXPORT(gtsam::PinholeCamera<Cal3_S2>)
BOOST_CLASS_EXPORT(gtsam::PinholeCamera<Cal3DS2>)
BOOST_CLASS_EXPORT(gtsam::PinholeCamera<Cal3Bundler>)
BOOST_CLASS_EXPORT(gtsam::Cal3_S2);
BOOST_CLASS_EXPORT(gtsam::Cal3Bundler);
BOOST_CLASS_EXPORT(gtsam::Point3);
BOOST_CLASS_EXPORT(gtsam::Pose3);
BOOST_CLASS_EXPORT(gtsam::Rot3);
BOOST_CLASS_EXPORT(gtsam::PinholeCamera<Cal3_S2>);
BOOST_CLASS_EXPORT(gtsam::PinholeCamera<Cal3DS2>);
BOOST_CLASS_EXPORT(gtsam::PinholeCamera<Cal3Bundler>);
namespace detail {
template<class T> struct pack {
typedef T type;
};
}
#define CHART_VALUE_EXPORT(UNIQUE_NAME, TYPE) \
typedef gtsam::ChartValue<TYPE,gtsam::DefaultChart<TYPE> > UNIQUE_NAME; \
BOOST_CLASS_EXPORT( UNIQUE_NAME );
BOOST_CLASS_EXPORT(gtsam::ChartValue<gtsam::Pose3>);
/* ************************************************************************* */
typedef PinholeCamera<Cal3_S2> PinholeCal3S2;
typedef PinholeCamera<Cal3DS2> PinholeCal3DS2;
typedef PinholeCamera<Cal3Bundler> PinholeCal3Bundler;
CHART_VALUE_EXPORT(gtsamPoint3Chart, gtsam::Point3);
CHART_VALUE_EXPORT(Cal3S2Chart, PinholeCal3S2);
CHART_VALUE_EXPORT(Cal3DS2Chart, PinholeCal3DS2);
CHART_VALUE_EXPORT(Cal3BundlerChart, PinholeCal3Bundler);
/* ************************************************************************* */
static Point3 pt3(1.0, 2.0, 3.0);
static Rot3 rt3 = Rot3::RzRyRx(1.0, 3.0, 2.0);