removed DerivedValue<> inheritence from classes

gtsam/base/LieMatrix.h

@@ -29,7 +29,7 @@ namespace gtsam {
 /**
  * LieVector is a wrapper around vector to allow it to be a Lie type
  */
-struct LieMatrix : public Matrix, public DerivedValue<LieMatrix> {
+struct LieMatrix : public Matrix {
 
   /// @name Constructors
   /// @{
@@ -166,8 +166,7 @@ private:
   friend class boost::serialization::access;
   template<class Archive>
   void serialize(Archive & ar, const unsigned int version) {
-    ar & boost::serialization::make_nvp("LieMatrix",
-       boost::serialization::base_object<Value>(*this));
+    ar & boost::serialization::make_nvp("LieMatrix",*this);
     ar & boost::serialization::make_nvp("Matrix",
        boost::serialization::base_object<Matrix>(*this));
 

gtsam/base/LieScalar.h

@@ -26,7 +26,7 @@ namespace gtsam {
   /**
    * LieScalar is a wrapper around double to allow it to be a Lie type
    */
-  struct GTSAM_EXPORT LieScalar : public DerivedValue<LieScalar> {
+  struct GTSAM_EXPORT LieScalar {
 
     /** default constructor */
     LieScalar() : d_(0.0) {}

gtsam/base/LieVector.h

@@ -26,7 +26,7 @@ namespace gtsam {
 /**
  * LieVector is a wrapper around vector to allow it to be a Lie type
  */
-struct LieVector : public Vector, public DerivedValue<LieVector> {
+struct LieVector : public Vector {
 
   /** default constructor - should be unnecessary */
   LieVector() {}
@@ -123,8 +123,7 @@ private:
   friend class boost::serialization::access;
   template<class Archive>
   void serialize(Archive & ar, const unsigned int version) {
-    ar & boost::serialization::make_nvp("LieVector",
-       boost::serialization::base_object<Value>(*this));
+    ar & boost::serialization::make_nvp("LieVector",*this);
     ar & boost::serialization::make_nvp("Vector",
        boost::serialization::base_object<Vector>(*this));
   }

gtsam/geometry/Cal3Bundler.h

@@ -28,7 +28,7 @@ namespace gtsam {
  * @addtogroup geometry
  * \nosubgrouping
  */
-class GTSAM_EXPORT Cal3Bundler: public DerivedValue<Cal3Bundler> {
+class GTSAM_EXPORT Cal3Bundler {
 
 private:
   double f_; ///< focal length
@@ -173,8 +173,7 @@ private:
   template<class Archive>
   void serialize(Archive & ar, const unsigned int version) {
     ar
-        & boost::serialization::make_nvp("Cal3Bundler",
-            boost::serialization::base_object<Value>(*this));
+        & boost::serialization::make_nvp("Cal3Bundler",*this);
     ar & BOOST_SERIALIZATION_NVP(f_);
     ar & BOOST_SERIALIZATION_NVP(k1_);
     ar & BOOST_SERIALIZATION_NVP(k2_);

gtsam/geometry/Cal3DS2.h

@@ -37,7 +37,7 @@ namespace gtsam {
  *                      k3 (rr + 2 Pn.y^2) + 2*k4 pn.x pn.y  ]
  * pi = K*pn
  */
-class GTSAM_EXPORT Cal3DS2 : public DerivedValue<Cal3DS2> {
+class GTSAM_EXPORT Cal3DS2 {
 
 protected:
 
@@ -153,8 +153,7 @@ private:
   template<class Archive>
   void serialize(Archive & ar, const unsigned int version)
   {
-    ar & boost::serialization::make_nvp("Cal3DS2",
-        boost::serialization::base_object<Value>(*this));
+    ar & boost::serialization::make_nvp("Cal3DS2",*this);
     ar & BOOST_SERIALIZATION_NVP(fx_);
     ar & BOOST_SERIALIZATION_NVP(fy_);
     ar & BOOST_SERIALIZATION_NVP(s_);

gtsam/geometry/Cal3_S2.h

@@ -31,7 +31,7 @@ namespace gtsam {
  * @addtogroup geometry
  * \nosubgrouping
  */
-class GTSAM_EXPORT Cal3_S2: public DerivedValue<Cal3_S2> {
+class GTSAM_EXPORT Cal3_S2 {
 private:
   double fx_, fy_, s_, u0_, v0_;
 
@@ -227,8 +227,7 @@ private:
   template<class Archive>
   void serialize(Archive & ar, const unsigned int version) {
     ar
-        & boost::serialization::make_nvp("Cal3_S2",
-            boost::serialization::base_object<Value>(*this));
+        & boost::serialization::make_nvp("Cal3_S2",*this);
     ar & BOOST_SERIALIZATION_NVP(fx_);
     ar & BOOST_SERIALIZATION_NVP(fy_);
     ar & BOOST_SERIALIZATION_NVP(s_);

gtsam/geometry/CalibratedCamera.h

@@ -39,7 +39,7 @@ public:
  * @addtogroup geometry
  * \nosubgrouping
  */
-class GTSAM_EXPORT CalibratedCamera: public DerivedValue<CalibratedCamera> {
+class GTSAM_EXPORT CalibratedCamera {
 private:
   Pose3 pose_; // 6DOF pose
 
@@ -215,8 +215,7 @@ private:
   template<class Archive>
   void serialize(Archive & ar, const unsigned int version) {
     ar
-        & boost::serialization::make_nvp("CalibratedCamera",
-            boost::serialization::base_object<Value>(*this));
+        & boost::serialization::make_nvp("CalibratedCamera",*this);
     ar & BOOST_SERIALIZATION_NVP(pose_);
   }
 

gtsam/geometry/EssentialMatrix.h

@@ -20,7 +20,7 @@ namespace gtsam {
  * but here we choose instead to parameterize it as a (Rot3,Unit3) pair.
  * We can then non-linearly optimize immediately on this 5-dimensional manifold.
  */
-class GTSAM_EXPORT EssentialMatrix: public DerivedValue<EssentialMatrix> {
+class GTSAM_EXPORT EssentialMatrix {
 
 private:
 
@@ -176,8 +176,7 @@ private:
   friend class boost::serialization::access;
   template<class ARCHIVE>
     void serialize(ARCHIVE & ar, const unsigned int version) {
-      ar & boost::serialization::make_nvp("EssentialMatrix",
-          boost::serialization::base_object<Value>(*this));
+      ar & boost::serialization::make_nvp("EssentialMatrix",*this);
       ar & BOOST_SERIALIZATION_NVP(aRb_);
       ar & BOOST_SERIALIZATION_NVP(aTb_);
 

gtsam/geometry/PinholeCamera.h

@@ -37,7 +37,7 @@ namespace gtsam {
  * \nosubgrouping
  */
 template<typename Calibration>
-class PinholeCamera: public DerivedValue<PinholeCamera<Calibration> > {
+class PinholeCamera {
 private:
   Pose3 pose_;
   Calibration K_;

gtsam/geometry/Point2.h

@@ -32,7 +32,7 @@ namespace gtsam {
  * @addtogroup geometry
  * \nosubgrouping
  */
-class GTSAM_EXPORT Point2 : public DerivedValue<Point2> {
+class GTSAM_EXPORT Point2 {
 
 private:
 
@@ -237,8 +237,7 @@ private:
   template<class ARCHIVE>
   void serialize(ARCHIVE & ar, const unsigned int version)
   {
-    ar & boost::serialization::make_nvp("Point2",
-        boost::serialization::base_object<Value>(*this));
+    ar & boost::serialization::make_nvp("Point2",*this);
     ar & BOOST_SERIALIZATION_NVP(x_);
     ar & BOOST_SERIALIZATION_NVP(y_);
   }

gtsam/geometry/Point3.h

@@ -36,7 +36,7 @@ namespace gtsam {
    * @addtogroup geometry
    * \nosubgrouping
    */
-  class GTSAM_EXPORT Point3 : public DerivedValue<Point3> {
+  class GTSAM_EXPORT Point3 {
 
   private:
 
@@ -228,8 +228,7 @@ namespace gtsam {
     template<class ARCHIVE>
       void serialize(ARCHIVE & ar, const unsigned int version)
     {
-      ar & boost::serialization::make_nvp("Point3",
-          boost::serialization::base_object<Value>(*this));
+      ar & boost::serialization::make_nvp("Point3",*this);
       ar & BOOST_SERIALIZATION_NVP(x_);
       ar & BOOST_SERIALIZATION_NVP(y_);
       ar & BOOST_SERIALIZATION_NVP(z_);

gtsam/geometry/Pose2.h

@@ -33,7 +33,7 @@ namespace gtsam {
  * @addtogroup geometry
  * \nosubgrouping
  */
-class GTSAM_EXPORT Pose2 : public DerivedValue<Pose2> {
+class GTSAM_EXPORT Pose2 {
 
 public:
 
@@ -301,8 +301,7 @@ private:
   friend class boost::serialization::access;
   template<class Archive>
   void serialize(Archive & ar, const unsigned int version) {
-    ar & boost::serialization::make_nvp("Pose2",
-        boost::serialization::base_object<Value>(*this));
+    ar & boost::serialization::make_nvp("Pose2",*this);
     ar & BOOST_SERIALIZATION_NVP(t_);
     ar & BOOST_SERIALIZATION_NVP(r_);
   }

gtsam/geometry/Pose3.h

@@ -39,7 +39,7 @@ class Pose2;
  * @addtogroup geometry
  * \nosubgrouping
  */
-class GTSAM_EXPORT Pose3: public DerivedValue<Pose3> {
+class GTSAM_EXPORT Pose3{
 public:
 
   /** Pose Concept requirements */
@@ -326,8 +326,7 @@ public:
     friend class boost::serialization::access;
     template<class Archive>
     void serialize(Archive & ar, const unsigned int version) {
-      ar & boost::serialization::make_nvp("Pose3",
-              boost::serialization::base_object<Value>(*this));
+      ar & boost::serialization::make_nvp("Pose3",*this);
       ar & BOOST_SERIALIZATION_NVP(R_);
       ar & BOOST_SERIALIZATION_NVP(t_);
     }

gtsam/geometry/Rot2.h

@@ -31,7 +31,7 @@ namespace gtsam {
    * @addtogroup geometry
    * \nosubgrouping
    */
-  class GTSAM_EXPORT Rot2 : public DerivedValue<Rot2> {
+  class GTSAM_EXPORT Rot2 {
 
   public:
     /** get the dimension by the type */
@@ -235,8 +235,7 @@ namespace gtsam {
     friend class boost::serialization::access;
     template<class ARCHIVE>
     void serialize(ARCHIVE & ar, const unsigned int version) {
-      ar & boost::serialization::make_nvp("Rot2",
-          boost::serialization::base_object<Value>(*this));
+      ar & boost::serialization::make_nvp("Rot2",*this);
       ar & BOOST_SERIALIZATION_NVP(c_);
       ar & BOOST_SERIALIZATION_NVP(s_);
     }

gtsam/geometry/Rot3.h

@@ -58,7 +58,7 @@ namespace gtsam {
    * @addtogroup geometry
    * \nosubgrouping
    */
-  class GTSAM_EXPORT Rot3 : public DerivedValue<Rot3> {
+  class GTSAM_EXPORT Rot3 {
 
   private:
 
@@ -456,8 +456,7 @@ namespace gtsam {
     template<class ARCHIVE>
     void serialize(ARCHIVE & ar, const unsigned int version)
     {
-       ar & boost::serialization::make_nvp("Rot3",
-           boost::serialization::base_object<Value>(*this));
+       ar & boost::serialization::make_nvp("Rot3",*this);
 #ifndef GTSAM_USE_QUATERNIONS
        ar & boost::serialization::make_nvp("rot11", rot_(0,0));
        ar & boost::serialization::make_nvp("rot12", rot_(0,1));

gtsam/geometry/StereoCamera.h

@@ -36,7 +36,7 @@ public:
  * A stereo camera class, parameterize by left camera pose and stereo calibration
  * @addtogroup geometry
  */
-class GTSAM_EXPORT StereoCamera  : public DerivedValue<StereoCamera> {
+class GTSAM_EXPORT StereoCamera {
 
 private:
   Pose3 leftCamPose_;
@@ -147,8 +147,7 @@ private:
   friend class boost::serialization::access;
   template<class Archive>
   void serialize(Archive & ar, const unsigned int version) {
-    ar & boost::serialization::make_nvp("StereoCamera",
-       boost::serialization::base_object<Value>(*this));
+    ar & boost::serialization::make_nvp("StereoCamera",*this);
     ar & BOOST_SERIALIZATION_NVP(leftCamPose_);
     ar & BOOST_SERIALIZATION_NVP(K_);
   }

gtsam/geometry/StereoPoint2.h

@@ -28,7 +28,7 @@ namespace gtsam {
    * @addtogroup geometry
    * \nosubgrouping
    */
-  class GTSAM_EXPORT StereoPoint2 : public DerivedValue<StereoPoint2> {
+  class GTSAM_EXPORT StereoPoint2 {
   public:
     static const size_t dimension = 3;
   private:
@@ -162,8 +162,7 @@ namespace gtsam {
     friend class boost::serialization::access;
     template<class ARCHIVE>
     void serialize(ARCHIVE & ar, const unsigned int version) {
-      ar & boost::serialization::make_nvp("StereoPoint2",
-          boost::serialization::base_object<Value>(*this));
+      ar & boost::serialization::make_nvp("StereoPoint2",*this);
       ar & BOOST_SERIALIZATION_NVP(uL_);
       ar & BOOST_SERIALIZATION_NVP(uR_);
       ar & BOOST_SERIALIZATION_NVP(v_);

gtsam/geometry/Unit3.h

@@ -27,7 +27,7 @@
 namespace gtsam {
 
 /// Represents a 3D point on a unit sphere.
-class GTSAM_EXPORT Unit3: public DerivedValue<Unit3> {
+class GTSAM_EXPORT Unit3{
 
 private:
 
@@ -146,8 +146,7 @@ private:
   friend class boost::serialization::access;
   template<class ARCHIVE>
     void serialize(ARCHIVE & ar, const unsigned int version) {
-      ar & boost::serialization::make_nvp("Unit3",
-          boost::serialization::base_object<Value>(*this));
+      ar & boost::serialization::make_nvp("Unit3",*this);
       ar & BOOST_SERIALIZATION_NVP(p_);
       ar & BOOST_SERIALIZATION_NVP(B_);
     }

gtsam/navigation/ImuBias.h

@@ -39,7 +39,7 @@ namespace gtsam {
 /// All bias models live in the imuBias namespace
 namespace imuBias {
 
-  class ConstantBias : public DerivedValue<ConstantBias> {
+  class ConstantBias {
   private:
     Vector3 biasAcc_;
     Vector3 biasGyro_;
@@ -205,8 +205,7 @@ namespace imuBias {
     template<class ARCHIVE>
       void serialize(ARCHIVE & ar, const unsigned int version)
     {
-      ar & boost::serialization::make_nvp("imuBias::ConstantBias",
-          boost::serialization::base_object<Value>(*this));
+      ar & boost::serialization::make_nvp("imuBias::ConstantBias",*this);
       ar & BOOST_SERIALIZATION_NVP(biasAcc_);
       ar & BOOST_SERIALIZATION_NVP(biasGyro_);
     }

gtsam/nonlinear/tests/testValues.cpp

@@ -51,7 +51,7 @@ public:
 };
 int TestValueData::ConstructorCount = 0;
 int TestValueData::DestructorCount = 0;
-class TestValue : public DerivedValue<TestValue> {
+class TestValue {
   TestValueData data_;
 public:
   virtual void print(const std::string& str = "") const {}

gtsam_unstable/dynamics/PoseRTV.h

@@ -19,7 +19,7 @@ typedef Point3 Velocity3;
  * Robot state for use with IMU measurements
  * - contains translation, translational velocity and rotation
  */
-class GTSAM_UNSTABLE_EXPORT PoseRTV : public DerivedValue<PoseRTV> {
+class GTSAM_UNSTABLE_EXPORT PoseRTV {
 protected:
 
   Pose3 Rt_;

gtsam_unstable/geometry/BearingS2.h

@@ -15,7 +15,7 @@
 
 namespace gtsam {
 
-class GTSAM_UNSTABLE_EXPORT BearingS2 : public DerivedValue<BearingS2> {
+class GTSAM_UNSTABLE_EXPORT BearingS2 {
 protected:
   Rot2 azimuth_, elevation_;
 

gtsam_unstable/geometry/Pose3Upright.h

@@ -22,7 +22,7 @@ namespace gtsam {
  * @ingroup geometry
  * \nosubgrouping
  */
-class GTSAM_UNSTABLE_EXPORT Pose3Upright : public DerivedValue<Pose3Upright> {
+class GTSAM_UNSTABLE_EXPORT Pose3Upright {
 public:
   static const size_t dimension = 4;