(2.0_prep branch) Merged in additional changes from virtual_values branch r8901-r8902

gtsam/base/DerivedValue.h

@@ -18,7 +18,16 @@ private:
 	struct PoolTag { };
 
 protected:
-	DerivedValue() {}
+	DerivedValue() {
+  	// Register the base/derived class relationship for boost::serialization
+		// See: http://www.boost.org/doc/libs/1_45_0/libs/serialization/doc/serialization.html#runtimecasting
+		static bool first = true;
+		if (first) {
+			boost::serialization::void_cast_register<DERIVED, Value>(
+					static_cast<DERIVED *>(NULL), static_cast<Value *>(NULL) );
+			first = false;
+		}
+	}
 
 public:
 

gtsam/base/Value.h

@@ -19,7 +19,7 @@
 #pragma once
 
 #include <memory>
-
+#include <boost/serialization/assume_abstract.hpp>
 #include <gtsam/base/Vector.h>
 
 namespace gtsam {
@@ -142,6 +142,16 @@ namespace gtsam {
     /** Virutal destructor */
     virtual ~Value() {}
 
+  private:
+  	/** Serialization function */
+  	friend class boost::serialization::access;
+  	template<class ARCHIVE>
+  	void serialize(ARCHIVE & ar, const unsigned int version) {
+  		std::cout << "value serialization" << std::endl;
+  	}
+
   };
 
 } /* namespace gtsam */
+
+BOOST_SERIALIZATION_ASSUME_ABSTRACT(gtsam::Value)

gtsam/nonlinear/Values.h

@@ -32,6 +32,7 @@
 #include <boost/iterator/transform_iterator.hpp>
 #include <boost/function.hpp>
 #include <boost/bind.hpp>
+#include <boost/ptr_container/serialize_ptr_map.hpp>
 
 #include <gtsam/base/Value.h>
 #include <gtsam/base/FastMap.h>
@@ -244,6 +245,14 @@ namespace gtsam {
      */
     Ordering::shared_ptr orderingArbitrary(Index firstVar = 0) const;
 
+  private:
+  	/** Serialization function */
+  	friend class boost::serialization::access;
+  	template<class ARCHIVE>
+  	void serialize(ARCHIVE & ar, const unsigned int version) {
+  		ar & BOOST_SERIALIZATION_NVP(values_);
+  	}
+
   };
 
   /* ************************************************************************* */

tests/testSerialization.cpp

@@ -37,6 +37,7 @@
 #include <boost/archive/xml_iarchive.hpp>
 #include <boost/archive/xml_oarchive.hpp>
 
+#include <gtsam/geometry/Point2.h>
 // whether to print the serialized text to stdout
 const bool verbose = false;
 
@@ -439,6 +440,10 @@ TEST (Serialization, gaussianISAM) {
 BOOST_CLASS_EXPORT_GUID(simulated2D::Prior,       "gtsam::simulated2D::Prior"      );
 BOOST_CLASS_EXPORT_GUID(simulated2D::Odometry,    "gtsam::simulated2D::Odometry"   );
 BOOST_CLASS_EXPORT_GUID(simulated2D::Measurement, "gtsam::simulated2D::Measurement");
+BOOST_CLASS_EXPORT(gtsam::Point2)
+BOOST_CLASS_EXPORT(gtsam::Point3)
+BOOST_CLASS_EXPORT(gtsam::Pose2)
+BOOST_CLASS_EXPORT(gtsam::Pose3)
 /* ************************************************************************* */
 TEST (Serialization, smallExample) {
 	using namespace example;