From 1c1e47ca1fc657624b1e28eb33b9228700e35a33 Mon Sep 17 00:00:00 2001
From: Alex Cunningham <alexgcunningham@gmail.com>
Date: Fri, 4 Mar 2011 14:56:18 +0000
Subject: [PATCH] Added serialization export keys directly to NoiseModel

---
 gtsam/linear/NoiseModel.cpp |  7 +++++++
 gtsam/linear/NoiseModel.h   | 11 +++++++++++
 gtsam/slam/planarSLAM.h     |  3 ---
 tests/testSerialization.cpp | 23 ++++++++---------------
 4 files changed, 26 insertions(+), 18 deletions(-)

diff --git a/gtsam/linear/NoiseModel.cpp b/gtsam/linear/NoiseModel.cpp
index 95ef00c4c..fe230588c 100644
--- a/gtsam/linear/NoiseModel.cpp
+++ b/gtsam/linear/NoiseModel.cpp
@@ -41,6 +41,13 @@ typedef ublas::matrix_column<Matrix> column;
 static double inf = std::numeric_limits<double>::infinity();
 using namespace std;
 
+/** implement the export code for serialization */
+BOOST_CLASS_EXPORT_IMPLEMENT(gtsam::noiseModel::Constrained);
+BOOST_CLASS_EXPORT_IMPLEMENT(gtsam::noiseModel::Diagonal);
+BOOST_CLASS_EXPORT_IMPLEMENT(gtsam::noiseModel::Gaussian);
+BOOST_CLASS_EXPORT_IMPLEMENT(gtsam::noiseModel::Unit);
+BOOST_CLASS_EXPORT_IMPLEMENT(gtsam::noiseModel::Isotropic);
+
 namespace gtsam {
 
 namespace noiseModel {
diff --git a/gtsam/linear/NoiseModel.h b/gtsam/linear/NoiseModel.h
index cc44f6155..457a178b5 100644
--- a/gtsam/linear/NoiseModel.h
+++ b/gtsam/linear/NoiseModel.h
@@ -508,3 +508,14 @@ namespace gtsam {
 	} // namespace noiseModel
 
 } // namespace gtsam
+
+/** Export keys for serialization */
+#include <boost/serialization/export.hpp>
+#include <boost/serialization/extended_type_info.hpp>
+BOOST_CLASS_EXPORT_KEY2(gtsam::noiseModel::Constrained, "gtsam_noiseModel_Constrained");
+BOOST_CLASS_EXPORT_KEY2(gtsam::noiseModel::Diagonal, "gtsam_noiseModel_Diagonal");
+BOOST_CLASS_EXPORT_KEY2(gtsam::noiseModel::Gaussian, "gtsam_noiseModel_Gaussian");
+BOOST_CLASS_EXPORT_KEY2(gtsam::noiseModel::Unit, "gtsam_noiseModel_Unit");
+BOOST_CLASS_EXPORT_KEY2(gtsam::noiseModel::Isotropic, "gtsam_noiseModel_Isotropic");
+
+
diff --git a/gtsam/slam/planarSLAM.h b/gtsam/slam/planarSLAM.h
index 6e14dfa61..8d1c44a1b 100644
--- a/gtsam/slam/planarSLAM.h
+++ b/gtsam/slam/planarSLAM.h
@@ -17,9 +17,6 @@
 
 #pragma once
 
-#include <boost/serialization/serialization.hpp>
-#include <boost/serialization/export.hpp>
-
 #include <gtsam/slam/BearingRangeFactor.h>
 #include <gtsam/nonlinear/TupleValues.h>
 #include <gtsam/nonlinear/NonlinearEquality.h>
diff --git a/tests/testSerialization.cpp b/tests/testSerialization.cpp
index 420f4b3f0..be5d32d6d 100644
--- a/tests/testSerialization.cpp
+++ b/tests/testSerialization.cpp
@@ -24,12 +24,12 @@
 #include <string>
 
 // includes for standard serialization types
+#include <boost/serialization/export.hpp>
 #include <boost/serialization/optional.hpp>
 #include <boost/serialization/shared_ptr.hpp>
 #include <boost/serialization/vector.hpp>
 #include <boost/serialization/map.hpp>
 #include <boost/serialization/list.hpp>
-#include <boost/serialization/export.hpp>
 
 #include <boost/archive/text_oarchive.hpp>
 #include <boost/archive/text_iarchive.hpp>
@@ -204,13 +204,6 @@ noiseModel::Isotropic::shared_ptr iso3 = noiseModel::Isotropic::Sigma(3, 0.2);
 noiseModel::Constrained::shared_ptr constrained3 = noiseModel::Constrained::MixedSigmas(Vector_(3, 0.0, 0.0, 0.1));
 noiseModel::Unit::shared_ptr unit3 = noiseModel::Unit::Create(3);
 
-// export GUIDs for noisemodels
-BOOST_CLASS_EXPORT_GUID(noiseModel::Diagonal, "gtsam_noiseModel_Diagonal");
-BOOST_CLASS_EXPORT_GUID(noiseModel::Gaussian, "gtsam_noiseModel_Gaussian");
-BOOST_CLASS_EXPORT_GUID(noiseModel::Constrained, "gtsam_noiseModel_Constrained");
-BOOST_CLASS_EXPORT_GUID(noiseModel::Unit, "gtsam_noiseModel_Unit");
-BOOST_CLASS_EXPORT_GUID(noiseModel::Isotropic, "gtsam_noiseModel_Isotropic");
-
 /* ************************************************************************* */
 TEST (Serialization, noiseModels) {
 	// tests using pointers to the derived class
@@ -264,13 +257,13 @@ TEST (Serialization, SharedDiagonal_noiseModels) {
 }
 
 /* ************************************************************************* */
-// exporting factor classes
-BOOST_CLASS_EXPORT_GUID(Prior, "gtsam_planarSLAM_Prior");
-BOOST_CLASS_EXPORT_GUID(Bearing, "gtsam_planarSLAM_Bearing");
-BOOST_CLASS_EXPORT_GUID(Range, "gtsam_planarSLAM_Range");
-BOOST_CLASS_EXPORT_GUID(BearingRange, "gtsam_planarSLAM_BearingRange");
-BOOST_CLASS_EXPORT_GUID(Odometry, "gtsam_planarSLAM_Odometry");
-BOOST_CLASS_EXPORT_GUID(Constraint, "gtsam_planarSLAM_Constraint");
+/* Create GUIDs for factors */
+BOOST_CLASS_EXPORT_GUID(gtsam::planarSLAM::Prior,       "gtsam::planarSLAM::Prior");
+BOOST_CLASS_EXPORT_GUID(gtsam::planarSLAM::Bearing,     "gtsam::planarSLAM::Bearing");
+BOOST_CLASS_EXPORT_GUID(gtsam::planarSLAM::Range,       "gtsam::planarSLAM::Range");
+BOOST_CLASS_EXPORT_GUID(gtsam::planarSLAM::BearingRange,"gtsam::planarSLAM::BearingRange");
+BOOST_CLASS_EXPORT_GUID(gtsam::planarSLAM::Odometry,    "gtsam::planarSLAM::Odometry");
+BOOST_CLASS_EXPORT_GUID(gtsam::planarSLAM::Constraint,  "gtsam::planarSLAM::Constraint");
 
 /* ************************************************************************* */
 TEST (Serialization, planar_system) {