ifdefs for gtsam folder on serialize

gtsam/base/ConcurrentMap.h

@@ -101,6 +101,7 @@ public:
 
 private:
   /** Serialization function */
+#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
   friend class boost::serialization::access;
   template<class Archive>
   void save(Archive& ar, const unsigned int /*version*/) const
@@ -110,6 +111,7 @@ private:
     std::copy(this->begin(), this->end(), map.begin());
     ar & BOOST_SERIALIZATION_NVP(map);
   }
+#endif
   template<class Archive>
   void load(Archive& ar, const unsigned int /*version*/)
   {

gtsam/base/FastList.h

@@ -77,11 +77,13 @@ public:
 
 private:
   /** Serialization function */
+#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
   friend class boost::serialization::access;
   template<class ARCHIVE>
   void serialize(ARCHIVE & ar, const unsigned int /*version*/) {
     ar & BOOST_SERIALIZATION_BASE_OBJECT_NVP(Base);
   }
+#endif
 
 };
 

gtsam/base/FastMap.h

@@ -68,11 +68,13 @@ public:
 
 private:
   /** Serialization function */
+#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
   friend class boost::serialization::access;
   template<class ARCHIVE>
   void serialize(ARCHIVE & ar, const unsigned int /*version*/) {
     ar & BOOST_SERIALIZATION_BASE_OBJECT_NVP(Base);
   }
+#endif
 };
 
 }

gtsam/base/FastSet.h

@@ -122,11 +122,13 @@ public:
 
 private:
   /** Serialization function */
+#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
   friend class boost::serialization::access;
   template<class ARCHIVE>
   void serialize(ARCHIVE & ar, const unsigned int /*version*/) {
     ar & BOOST_SERIALIZATION_BASE_OBJECT_NVP(Base);
   }
+#endif
 };
 
 }

gtsam/base/GenericValue.h

@@ -176,6 +176,7 @@ public:
   private:
 
     /** Serialization function */
+#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
     friend class boost::serialization::access;
     template<class ARCHIVE>
     void serialize(ARCHIVE & ar, const unsigned int /*version*/) {
@@ -183,6 +184,7 @@ public:
               boost::serialization::base_object<Value>(*this));
       ar & boost::serialization::make_nvp("value", value_);
 	}
+#endif
 
 
   // Alignment, see https://eigen.tuxfamily.org/dox/group__TopicStructHavingEigenMembers.html

gtsam/base/SymmetricBlockMatrix.h

@@ -399,6 +399,7 @@ namespace gtsam {
 
   private:
     /** Serialization function */
+#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
     friend class boost::serialization::access;
     template<class ARCHIVE>
     void serialize(ARCHIVE & ar, const unsigned int /*version*/) {
@@ -410,6 +411,7 @@ namespace gtsam {
       ar & BOOST_SERIALIZATION_NVP(variableColOffsets_);
       ar & BOOST_SERIALIZATION_NVP(blockStart_);
     }
+#endif
   };
 
   /// Foward declare exception class

gtsam/base/Value.h

@@ -119,10 +119,12 @@ namespace gtsam {
      *       The last two links explain why these export lines have to be in the same source module that includes
      *       any of the archive class headers.
      * */
+#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
     friend class boost::serialization::access;
     template<class ARCHIVE>
     void serialize(ARCHIVE & /*ar*/, const unsigned int /*version*/) {
     }
+#endif
 
   };
 

gtsam/base/VerticalBlockMatrix.h

@@ -220,6 +220,7 @@ namespace gtsam {
 
   private:
     /** Serialization function */
+#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
     friend class boost::serialization::access;
     template<class ARCHIVE>
     void serialize(ARCHIVE & ar, const unsigned int /*version*/) {
@@ -229,6 +230,7 @@ namespace gtsam {
       ar & BOOST_SERIALIZATION_NVP(rowEnd_);
       ar & BOOST_SERIALIZATION_NVP(blockStart_);
     }
+#endif
   };
 
 }

gtsam/discrete/DecisionTree-inl.h

@@ -155,6 +155,7 @@ namespace gtsam {
     using Base = DecisionTree<L, Y>::Node;
 
     /** Serialization function */
+#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
     friend class boost::serialization::access;
     template <class ARCHIVE>
     void serialize(ARCHIVE& ar, const unsigned int /*version*/) {
@@ -162,6 +163,7 @@ namespace gtsam {
       ar& BOOST_SERIALIZATION_NVP(constant_);
       ar& BOOST_SERIALIZATION_NVP(nrAssignments_);
     }
+#endif
   };  // Leaf
 
   /****************************************************************************/

gtsam/discrete/DecisionTree.h

@@ -118,9 +118,11 @@ namespace gtsam {
 
      private:
       /** Serialization function */
+#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
       friend class boost::serialization::access;
       template <class ARCHIVE>
       void serialize(ARCHIVE& ar, const unsigned int /*version*/) {}
+#endif
     };
     /** ------------------------ Node base class --------------------------- */
 

gtsam/discrete/DecisionTreeFactor.h

@@ -254,6 +254,7 @@ namespace gtsam {
 
    private:
     /** Serialization function */
+#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
     friend class boost::serialization::access;
     template <class ARCHIVE>
     void serialize(ARCHIVE& ar, const unsigned int /*version*/) {
@@ -261,6 +262,7 @@ namespace gtsam {
       ar& BOOST_SERIALIZATION_BASE_OBJECT_NVP(ADT);
       ar& BOOST_SERIALIZATION_NVP(cardinalities_);
     }
+#endif
   };
 
 // traits

gtsam/discrete/DiscreteBayesNet.h

@@ -151,11 +151,13 @@ class GTSAM_EXPORT DiscreteBayesNet: public BayesNet<DiscreteConditional> {
 
  private:
     /** Serialization function */
+#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
     friend class boost::serialization::access;
     template<class ARCHIVE>
     void serialize(ARCHIVE & ar, const unsigned int /*version*/) {
       ar & BOOST_SERIALIZATION_BASE_OBJECT_NVP(Base);
     }
+#endif
   };
 
 // traits

gtsam/discrete/DiscreteConditional.h

@@ -269,12 +269,14 @@ class GTSAM_EXPORT DiscreteConditional
 
  private:
   /** Serialization function */
+#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
   friend class boost::serialization::access;
   template <class Archive>
   void serialize(Archive& ar, const unsigned int /*version*/) {
     ar& BOOST_SERIALIZATION_BASE_OBJECT_NVP(BaseFactor);
     ar& BOOST_SERIALIZATION_BASE_OBJECT_NVP(BaseConditional);
   }
+#endif
 };
 // DiscreteConditional
 

gtsam/discrete/DiscreteKey.h

@@ -80,6 +80,7 @@ namespace gtsam {
     bool equals(const DiscreteKeys& other, double tol = 0) const;
 
     /** Serialization function */
+#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
     friend class boost::serialization::access;
     template <class ARCHIVE>
     void serialize(ARCHIVE& ar, const unsigned int /*version*/) {
@@ -87,6 +88,7 @@ namespace gtsam {
           "DiscreteKeys",
           boost::serialization::base_object<std::vector<DiscreteKey>>(*this));
     }
+#endif
 
   }; // DiscreteKeys
 

gtsam/discrete/DiscreteLookupDAG.h

@@ -127,11 +127,13 @@ class GTSAM_EXPORT DiscreteLookupDAG : public BayesNet<DiscreteLookupTable> {
 
  private:
   /** Serialization function */
+#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
   friend class boost::serialization::access;
   template <class ARCHIVE>
   void serialize(ARCHIVE& ar, const unsigned int /*version*/) {
     ar& BOOST_SERIALIZATION_BASE_OBJECT_NVP(Base);
   }
+#endif
 };
 
 // traits

gtsam/geometry/BearingRange.h

@@ -154,6 +154,7 @@ private:
     ar& boost::serialization::make_nvp("range", range_);
   }
 
+#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
   friend class boost::serialization::access;
 
   /// @}
@@ -162,6 +163,7 @@ private:
   enum {
     NeedsToAlign = (sizeof(B) % 16) == 0 || (sizeof(R) % 16) == 0
   };
+#endif
 public:
   GTSAM_MAKE_ALIGNED_OPERATOR_NEW_IF(NeedsToAlign)
 };

gtsam/geometry/Cal3.h

@@ -185,6 +185,7 @@ class GTSAM_EXPORT Cal3 {
 
  private:
   /// Serialization function
+#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION  ///
   friend class boost::serialization::access;
   template <class Archive>
   void serialize(Archive& ar, const unsigned int /*version*/) {
@@ -194,6 +195,7 @@ class GTSAM_EXPORT Cal3 {
     ar& BOOST_SERIALIZATION_NVP(u0_);
     ar& BOOST_SERIALIZATION_NVP(v0_);
   }
+#endif
 
   /// @}
 };

gtsam/geometry/Cal3Bundler.h

@@ -157,6 +157,7 @@ class GTSAM_EXPORT Cal3Bundler : public Cal3 {
   /// @{
 
   /** Serialization function */
+#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
   friend class boost::serialization::access;
   template <class Archive>
   void serialize(Archive& ar, const unsigned int /*version*/) {
@@ -166,6 +167,7 @@ class GTSAM_EXPORT Cal3Bundler : public Cal3 {
     ar& BOOST_SERIALIZATION_NVP(k2_);
     ar& BOOST_SERIALIZATION_NVP(tol_);
   }
+#endif
 
   /// @}
 };

gtsam/geometry/Cal3DS2.h

@@ -105,12 +105,14 @@ class GTSAM_EXPORT Cal3DS2 : public Cal3DS2_Base {
   /// @{
 
   /** Serialization function */
+#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
   friend class boost::serialization::access;
   template <class Archive>
   void serialize(Archive& ar, const unsigned int /*version*/) {
     ar& boost::serialization::make_nvp(
         "Cal3DS2", boost::serialization::base_object<Cal3DS2_Base>(*this));
   }
+#endif
 
   /// @}
 };

gtsam/geometry/Cal3DS2_Base.h

@@ -157,6 +157,7 @@ class GTSAM_EXPORT Cal3DS2_Base : public Cal3 {
   /// @{
 
   /** Serialization function */
+#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
   friend class boost::serialization::access;
   template <class Archive>
   void serialize(Archive& ar, const unsigned int /*version*/) {
@@ -168,6 +169,7 @@ class GTSAM_EXPORT Cal3DS2_Base : public Cal3 {
     ar& BOOST_SERIALIZATION_NVP(p2_);
     ar& BOOST_SERIALIZATION_NVP(tol_);
   }
+#endif
 
   /// @}
 };

gtsam/geometry/Cal3Fisheye.h

@@ -185,6 +185,7 @@ class GTSAM_EXPORT Cal3Fisheye : public Cal3 {
   /// @{
 
   /** Serialization function */
+#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
   friend class boost::serialization::access;
   template <class Archive>
   void serialize(Archive& ar, const unsigned int /*version*/) {
@@ -195,6 +196,7 @@ class GTSAM_EXPORT Cal3Fisheye : public Cal3 {
     ar& BOOST_SERIALIZATION_NVP(k3_);
     ar& BOOST_SERIALIZATION_NVP(k4_);
   }
+#endif
 
   /// @}
 };

gtsam/geometry/Cal3Unified.h

@@ -139,6 +139,7 @@ class GTSAM_EXPORT Cal3Unified : public Cal3DS2_Base {
 
  private:
   /** Serialization function */
+#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
   friend class boost::serialization::access;
   template <class Archive>
   void serialize(Archive& ar, const unsigned int /*version*/) {
@@ -146,6 +147,7 @@ class GTSAM_EXPORT Cal3Unified : public Cal3DS2_Base {
         "Cal3Unified", boost::serialization::base_object<Cal3DS2_Base>(*this));
     ar& BOOST_SERIALIZATION_NVP(xi_);
   }
+#endif
 };
 
 template <>

gtsam/geometry/Cal3_S2.h

@@ -133,12 +133,14 @@ class GTSAM_EXPORT Cal3_S2 : public Cal3 {
 
  private:
   /// Serialization function
+#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION  ///
   friend class boost::serialization::access;
   template <class Archive>
   void serialize(Archive& ar, const unsigned int /*version*/) {
     ar& boost::serialization::make_nvp(
         "Cal3_S2", boost::serialization::base_object<Cal3>(*this));
   }
+#endif
 
   /// @}
 };

gtsam/geometry/Cal3_S2Stereo.h

@@ -144,6 +144,7 @@ class GTSAM_EXPORT Cal3_S2Stereo : public Cal3_S2 {
 
  private:
   /** Serialization function */
+#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
   friend class boost::serialization::access;
   template <class Archive>
   void serialize(Archive& ar, const unsigned int /*version*/) {
@@ -151,6 +152,7 @@ class GTSAM_EXPORT Cal3_S2Stereo : public Cal3_S2 {
         "Cal3_S2", boost::serialization::base_object<Cal3_S2>(*this));
     ar& BOOST_SERIALIZATION_NVP(b_);
   }
+#endif
   /// @}
 };
 

gtsam/geometry/CalibratedCamera.h

@@ -229,11 +229,13 @@ public:
 private:
 
   /** Serialization function */
+#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
   friend class boost::serialization::access;
   template<class Archive>
   void serialize(Archive & ar, const unsigned int /*version*/) {
     ar & BOOST_SERIALIZATION_NVP(pose_);
   }
+#endif
 };
 // end of class PinholeBase
 

gtsam/geometry/CameraSet.h

@@ -466,11 +466,13 @@ class CameraSet : public std::vector<CAMERA, Eigen::aligned_allocator<CAMERA>> {
 
  private:
   /// Serialization function
+#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION  ///
   friend class boost::serialization::access;
   template <class ARCHIVE>
   void serialize(ARCHIVE& ar, const unsigned int /*version*/) {
     ar&(*this);
   }
+#endif
 
  public:
   GTSAM_MAKE_ALIGNED_OPERATOR_NEW

gtsam/geometry/EssentialMatrix.h

@@ -181,6 +181,7 @@ class EssentialMatrix {
   /// @{
 
   /** Serialization function */
+#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
   friend class boost::serialization::access;
   template<class ARCHIVE>
     void serialize(ARCHIVE & ar, const unsigned int /*version*/) {
@@ -197,6 +198,7 @@ class EssentialMatrix {
       ar & boost::serialization::make_nvp("E32", E_(2, 1));
       ar & boost::serialization::make_nvp("E33", E_(2, 2));
     }
+#endif
 
   /// @}
 

gtsam/geometry/PinholeCamera.h

@@ -327,6 +327,7 @@ public:
 private:
 
   /** Serialization function */
+#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
   friend class boost::serialization::access;
   template<class Archive>
   void serialize(Archive & ar, const unsigned int /*version*/) {
@@ -335,6 +336,7 @@ private:
             boost::serialization::base_object<Base>(*this));
     ar & BOOST_SERIALIZATION_NVP(K_);
   }
+#endif
 
 public:
   GTSAM_MAKE_ALIGNED_OPERATOR_NEW

gtsam/geometry/PinholePose.h

@@ -218,6 +218,7 @@ public:
 private:
 
   /** Serialization function */
+#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
   friend class boost::serialization::access;
   template<class Archive>
   void serialize(Archive & ar, const unsigned int /*version*/) {
@@ -225,6 +226,7 @@ private:
     & boost::serialization::make_nvp("PinholeBase",
         boost::serialization::base_object<PinholeBase>(*this));
   }
+#endif
 
 public:
   GTSAM_MAKE_ALIGNED_OPERATOR_NEW

gtsam/geometry/PinholeSet.h

@@ -65,11 +65,13 @@ public:
 private:
 
   /// Serialization function
+#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION  ///
   friend class boost::serialization::access;
   template<class ARCHIVE>
   void serialize(ARCHIVE & ar, const unsigned int version) {
     ar & BOOST_SERIALIZATION_BASE_OBJECT_NVP(Base);
   }
+#endif
 };
 
 template<class CAMERA>

gtsam/geometry/Pose2.h

@@ -327,12 +327,14 @@ public:
  private:
 
   // Serialization function
+#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION  //
   friend class boost::serialization::access;
   template<class Archive>
   void serialize(Archive & ar, const unsigned int /*version*/) {
     ar & BOOST_SERIALIZATION_NVP(t_);
     ar & BOOST_SERIALIZATION_NVP(r_);
   }
+#endif
 
 public:
   // Align for Point2, which is either derived from, or is typedef, of Vector2

gtsam/geometry/Pose3.h

@@ -393,12 +393,14 @@ public:
 
  private:
   /** Serialization function */
+#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
   friend class boost::serialization::access;
   template<class Archive>
   void serialize(Archive & ar, const unsigned int /*version*/) {
     ar & BOOST_SERIALIZATION_NVP(R_);
     ar & BOOST_SERIALIZATION_NVP(t_);
   }
+#endif
   /// @}
 
 #ifdef GTSAM_USE_QUATERNIONS

gtsam/geometry/Rot2.h

@@ -214,12 +214,14 @@ namespace gtsam {
 
   private:
     /** Serialization function */
+#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
     friend class boost::serialization::access;
     template<class ARCHIVE>
     void serialize(ARCHIVE & ar, const unsigned int /*version*/) {
       ar & BOOST_SERIALIZATION_NVP(c_);
       ar & BOOST_SERIALIZATION_NVP(s_);
     }
+#endif
 
   };
 

gtsam/geometry/Rot3.h

@@ -529,6 +529,7 @@ class GTSAM_EXPORT Rot3 : public LieGroup<Rot3, 3> {
 
    private:
     /** Serialization function */
+#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
     friend class boost::serialization::access;
     template <class ARCHIVE>
     void serialize(ARCHIVE& ar, const unsigned int /*version*/) {
@@ -550,6 +551,7 @@ class GTSAM_EXPORT Rot3 : public LieGroup<Rot3, 3> {
       ar& boost::serialization::make_nvp("z", quaternion_.z());
 #endif
     }
+#endif
 
 #ifdef GTSAM_USE_QUATERNIONS
   // only align if quaternion, Matrix3 has no alignment requirements

gtsam/geometry/SOn.h

@@ -323,6 +323,7 @@ class SO : public LieGroup<SO<N>, internal::DimensionSO(N)> {
   /// @name Serialization
   /// @{
 
+#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
   template <class Archive>
   friend void save(Archive&, SO&, const unsigned int);
   template <class Archive>
@@ -331,6 +332,7 @@ class SO : public LieGroup<SO<N>, internal::DimensionSO(N)> {
   friend void serialize(Archive&, SO&, const unsigned int);
   friend class boost::serialization::access;
   friend class Rot3;  // for serialize
+#endif
 
   /// @}
 };
@@ -376,6 +378,7 @@ GTSAM_EXPORT
 typename SOn::VectorN2 SOn::vec(DynamicJacobian H) const;
 
 /** Serialization function */
+#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
 template<class Archive>
 void serialize(
   Archive& ar, SOn& Q,
@@ -384,6 +387,7 @@ void serialize(
   Matrix& M = Q.matrix_;
   ar& BOOST_SERIALIZATION_NVP(M);
 }
+#endif
 
 /*
  * Define the traits. internal::LieGroup provides both Lie group and Testable

gtsam/geometry/SphericalCamera.h

@@ -53,12 +53,14 @@ class GTSAM_EXPORT EmptyCal {
 
  private:
   /// Serialization function
+#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION  ///
   friend class boost::serialization::access;
   template <class Archive>
   void serialize(Archive& ar, const unsigned int /*version*/) {
     ar& boost::serialization::make_nvp(
         "EmptyCal", boost::serialization::base_object<EmptyCal>(*this));
   }
+#endif
 };
 
 /**

gtsam/geometry/StereoCamera.h

@@ -179,12 +179,14 @@ public:
 
 private:
 
+#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
   friend class boost::serialization::access;
   template<class Archive>
   void serialize(Archive & ar, const unsigned int /*version*/) {
     ar & BOOST_SERIALIZATION_NVP(leftCamPose_);
     ar & BOOST_SERIALIZATION_NVP(K_);
   }
+#endif
 
 };
 

gtsam/geometry/StereoPoint2.h

@@ -147,6 +147,7 @@ private:
   /// @{
 
   /** Serialization function */
+#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
   friend class boost::serialization::access;
   template<class ARCHIVE>
   void serialize(ARCHIVE & ar, const unsigned int /*version*/) {
@@ -154,6 +155,7 @@ private:
     ar & BOOST_SERIALIZATION_NVP(uR_);
     ar & BOOST_SERIALIZATION_NVP(v_);
   }
+#endif
 
   /// @}
 

gtsam/geometry/Unit3.h

@@ -207,11 +207,13 @@ private:
   /// @name Advanced Interface
   /// @{
   /** Serialization function */
+#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
   friend class boost::serialization::access;
   template<class ARCHIVE>
   void serialize(ARCHIVE & ar, const unsigned int /*version*/) {
     ar & BOOST_SERIALIZATION_NVP(p_);
   }
+#endif
 
   /// @}
 

gtsam/geometry/triangulation.h

@@ -612,6 +612,7 @@ struct GTSAM_EXPORT TriangulationParameters {
 private:
 
   /// Serialization function
+#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION  ///
   friend class boost::serialization::access;
   template<class ARCHIVE>
   void serialize(ARCHIVE & ar, const unsigned int version) {
@@ -620,6 +621,7 @@ private:
     ar & BOOST_SERIALIZATION_NVP(landmarkDistanceThreshold);
     ar & BOOST_SERIALIZATION_NVP(dynamicOutlierRejectionThreshold);
   }
+#endif
 };
 
 /**

gtsam/hybrid/GaussianMixture.h

@@ -256,6 +256,7 @@ class GTSAM_EXPORT GaussianMixture
   bool allFrontalsGiven(const VectorValues &given) const;
 
   /** Serialization function */
+#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
   friend class boost::serialization::access;
   template <class Archive>
   void serialize(Archive &ar, const unsigned int /*version*/) {
@@ -263,6 +264,7 @@ class GTSAM_EXPORT GaussianMixture
     ar &BOOST_SERIALIZATION_BASE_OBJECT_NVP(BaseConditional);
     ar &BOOST_SERIALIZATION_NVP(conditionals_);
   }
+#endif
 };
 
 /// Return the DiscreteKey vector as a set.

gtsam/hybrid/GaussianMixtureFactor.h

@@ -152,6 +152,7 @@ class GTSAM_EXPORT GaussianMixtureFactor : public HybridFactor {
   /// @}
 
  private:
+#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
   /** Serialization function */
   friend class boost::serialization::access;
   template <class ARCHIVE>
@@ -159,6 +160,7 @@ class GTSAM_EXPORT GaussianMixtureFactor : public HybridFactor {
     ar &BOOST_SERIALIZATION_BASE_OBJECT_NVP(Base);
     ar &BOOST_SERIALIZATION_NVP(factors_);
   }
+#endif
 };
 
 // traits

gtsam/hybrid/HybridBayesNet.h

@@ -229,11 +229,13 @@ class GTSAM_EXPORT HybridBayesNet : public BayesNet<HybridConditional> {
   void updateDiscreteConditionals(const DecisionTreeFactor &prunedDecisionTree);
 
   /** Serialization function */
+#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
   friend class boost::serialization::access;
   template <class ARCHIVE>
   void serialize(ARCHIVE &ar, const unsigned int /*version*/) {
     ar &BOOST_SERIALIZATION_BASE_OBJECT_NVP(Base);
   }
+#endif
 };
 
 /// traits

gtsam/hybrid/HybridBayesTree.h

@@ -115,11 +115,13 @@ class GTSAM_EXPORT HybridBayesTree : public BayesTree<HybridBayesTreeClique> {
 
  private:
   /** Serialization function */
+#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
   friend class boost::serialization::access;
   template <class ARCHIVE>
   void serialize(ARCHIVE& ar, const unsigned int /*version*/) {
     ar& BOOST_SERIALIZATION_BASE_OBJECT_NVP(Base);
   }
+#endif
 };
 
 /// traits

gtsam/hybrid/HybridConditional.h

@@ -205,6 +205,7 @@ class GTSAM_EXPORT HybridConditional
 
  private:
   /** Serialization function */
+#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
   friend class boost::serialization::access;
   template <class Archive>
   void serialize(Archive& ar, const unsigned int /*version*/) {
@@ -225,6 +226,7 @@ class GTSAM_EXPORT HybridConditional
           static_cast<GaussianMixture*>(NULL), static_cast<Factor*>(NULL));
     }
   }
+#endif
 
 };  // HybridConditional
 

gtsam/hybrid/HybridFactor.h

@@ -138,6 +138,7 @@ class GTSAM_EXPORT HybridFactor : public Factor {
 
  private:
   /** Serialization function */
+#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
   friend class boost::serialization::access;
   template <class ARCHIVE>
   void serialize(ARCHIVE &ar, const unsigned int /*version*/) {
@@ -148,6 +149,7 @@ class GTSAM_EXPORT HybridFactor : public Factor {
     ar &BOOST_SERIALIZATION_NVP(discreteKeys_);
     ar &BOOST_SERIALIZATION_NVP(continuousKeys_);
   }
+#endif
 };
 // HybridFactor
 

gtsam/inference/BayesTree.h

@@ -260,12 +260,14 @@ namespace gtsam {
 
    private:
     /** Serialization function */
+#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
     friend class boost::serialization::access;
     template<class ARCHIVE>
     void serialize(ARCHIVE & ar, const unsigned int /*version*/) {
       ar & BOOST_SERIALIZATION_NVP(nodes_);
       ar & BOOST_SERIALIZATION_NVP(roots_);
     }
+#endif
 
     /// @}
 

gtsam/inference/BayesTreeCliqueBase.h

@@ -200,6 +200,7 @@ namespace gtsam {
   private:
 
     /** Serialization function */
+#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
     friend class boost::serialization::access;
     template<class ARCHIVE>
     void serialize(ARCHIVE & ar, const unsigned int /*version*/) {
@@ -213,6 +214,7 @@ namespace gtsam {
       }
       ar & BOOST_SERIALIZATION_NVP(children);
     }
+#endif
 
     /// @}
 

gtsam/inference/Conditional.h

@@ -214,11 +214,13 @@ namespace gtsam {
     const FACTOR& asFactor() const { return static_cast<const FACTOR&>(static_cast<const DERIVEDCONDITIONAL&>(*this)); }
 
     /** Serialization function */
+#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
     friend class boost::serialization::access;
     template<class ARCHIVE>
     void serialize(ARCHIVE & ar, const unsigned int /*version*/) {
       ar & BOOST_SERIALIZATION_NVP(nrFrontals_);
     }
+#endif
 
     /// @}
 

gtsam/inference/Factor.h

@@ -195,11 +195,13 @@ namespace gtsam {
     /// @{
 
     /** Serialization function */
+#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
     friend class boost::serialization::access;
     template<class Archive>
     void serialize(Archive & ar, const unsigned int /*version*/) {
       ar & BOOST_SERIALIZATION_NVP(keys_);
     }
+#endif
 
     /// @}
 

gtsam/inference/FactorGraph.h

@@ -434,11 +434,13 @@ class FactorGraph {
 
  private:
   /** Serialization function */
+#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
   friend class boost::serialization::access;
   template <class ARCHIVE>
   void serialize(ARCHIVE& ar, const unsigned int /*version*/) {
     ar& BOOST_SERIALIZATION_NVP(factors_);
   }
+#endif
 
   /// @}
 };  // FactorGraph

gtsam/inference/LabeledSymbol.h

@@ -113,6 +113,7 @@ public:
 private:
 
   /** Serialization function */
+#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
   friend class boost::serialization::access;
   template<class ARCHIVE>
   void serialize(ARCHIVE & ar, const unsigned int /*version*/) {
@@ -120,6 +121,7 @@ private:
     ar & BOOST_SERIALIZATION_NVP(label_);
     ar & BOOST_SERIALIZATION_NVP(j_);
   }
+#endif
 }; // \class LabeledSymbol
 
 /** Create a symbol key from a character, label and index, i.e. xA5. */

gtsam/inference/Ordering.h

@@ -257,11 +257,13 @@ private:
       const VariableIndex& variableIndex, std::vector<int>& cmember);
 
   /** Serialization function */
+#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
   friend class boost::serialization::access;
   template<class ARCHIVE>
   void serialize(ARCHIVE & ar, const unsigned int version) {
     ar & BOOST_SERIALIZATION_BASE_OBJECT_NVP(Base);
   }
+#endif
 };
 
 /// traits

gtsam/inference/Symbol.h

@@ -123,12 +123,14 @@ public:
 private:
 
   /** Serialization function */
+#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
   friend class boost::serialization::access;
   template<class ARCHIVE>
   void serialize(ARCHIVE & ar, const unsigned int /*version*/) {
     ar & BOOST_SERIALIZATION_NVP(c_);
     ar & BOOST_SERIALIZATION_NVP(j_);
   }
+#endif
 };
 
 /** Create a symbol key from a character and index, i.e. x5. */

gtsam/inference/VariableIndex.h

@@ -191,6 +191,7 @@ protected:
 
 private:
   /** Serialization function */
+#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
   friend class boost::serialization::access;
   template<class ARCHIVE>
   void serialize(ARCHIVE & ar, const unsigned int /*version*/) {
@@ -198,6 +199,7 @@ private:
     ar & BOOST_SERIALIZATION_NVP(nFactors_);
     ar & BOOST_SERIALIZATION_NVP(nEntries_);
   }
+#endif
 
   /// @}
 };

gtsam/linear/GaussianBayesNet.h

@@ -257,11 +257,13 @@ namespace gtsam {
 
   private:
     /** Serialization function */
+#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
     friend class boost::serialization::access;
     template<class ARCHIVE>
     void serialize(ARCHIVE & ar, const unsigned int /*version*/) {
       ar & BOOST_SERIALIZATION_BASE_OBJECT_NVP(Base);
     }
+#endif
   };
 
   /// traits

gtsam/linear/GaussianConditional.h

@@ -275,12 +275,14 @@ namespace gtsam {
 
    private:
     /** Serialization function */
+#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
     friend class boost::serialization::access;
     template<class Archive>
     void serialize(Archive & ar, const unsigned int /*version*/) {
       ar & BOOST_SERIALIZATION_BASE_OBJECT_NVP(BaseFactor);
       ar & BOOST_SERIALIZATION_BASE_OBJECT_NVP(BaseConditional);
     }
+#endif
   }; // GaussianConditional
 
 /// traits

gtsam/linear/GaussianFactor.h

@@ -164,11 +164,13 @@ namespace gtsam {
 
   private:
     /** Serialization function */
+#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
     friend class boost::serialization::access;
     template<class ARCHIVE>
     void serialize(ARCHIVE & ar, const unsigned int /*version*/) {
       ar & BOOST_SERIALIZATION_BASE_OBJECT_NVP(Base);
     }
+#endif
 
   }; // GaussianFactor
 

gtsam/linear/GaussianFactorGraph.h

@@ -404,11 +404,13 @@ namespace gtsam {
 
   private:
     /** Serialization function */
+#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
     friend class boost::serialization::access;
     template<class ARCHIVE>
     void serialize(ARCHIVE & ar, const unsigned int /*version*/) {
       ar & BOOST_SERIALIZATION_BASE_OBJECT_NVP(Base);
     }
+#endif
   };
 
   /**

gtsam/linear/HessianFactor.h

@@ -364,12 +364,14 @@ namespace gtsam {
     friend class NonlinearClusterTree;
 
     /** Serialization function */
+#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
     friend class boost::serialization::access;
     template<class ARCHIVE>
     void serialize(ARCHIVE & ar, const unsigned int /*version*/) {
       ar & BOOST_SERIALIZATION_BASE_OBJECT_NVP(GaussianFactor);
       ar & BOOST_SERIALIZATION_NVP(info_);
     }
+#endif
   };
 
 /**

gtsam/linear/JacobianFactor.h

@@ -414,6 +414,7 @@ namespace gtsam {
     template<typename T> friend class ExpressionFactor;
 
     /** Serialization function */
+#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
     friend class boost::serialization::access;
     template<class ARCHIVE>
     void save(ARCHIVE & ar, const unsigned int version) const {
@@ -432,6 +433,7 @@ namespace gtsam {
         ar << BOOST_SERIALIZATION_NVP(model_);
       }
     }
+#endif
 
     template<class ARCHIVE>
     void load(ARCHIVE & ar, const unsigned int version) {

gtsam/linear/LossFunctions.h

@@ -129,11 +129,13 @@ class GTSAM_EXPORT Base {
 
  private:
   /** Serialization function */
+#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
   friend class boost::serialization::access;
   template <class ARCHIVE>
   void serialize(ARCHIVE &ar, const unsigned int /*version*/) {
     ar &BOOST_SERIALIZATION_NVP(reweight_);
   }
+#endif
 };
 
 /** "Null" robust loss function, equivalent to a Gaussian pdf noise model, or

gtsam/linear/NoiseModel.h

@@ -140,11 +140,13 @@ namespace gtsam {
 
     private:
       /** Serialization function */
+#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
       friend class boost::serialization::access;
       template<class ARCHIVE>
       void serialize(ARCHIVE & ar, const unsigned int /*version*/) {
         ar & BOOST_SERIALIZATION_NVP(dim_);
       }
+#endif
     };
 
     //---------------------------------------------------------------------------------------

gtsam/linear/SubgraphBuilder.h

@@ -49,12 +49,14 @@ class GTSAM_EXPORT Subgraph {
     friend std::ostream &operator<<(std::ostream &os, const Edge &edge);
 
    private:
+#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
     friend class boost::serialization::access;
     template <class Archive>
     void serialize(Archive &ar, const unsigned int /*version*/) {
       ar &BOOST_SERIALIZATION_NVP(index);
       ar &BOOST_SERIALIZATION_NVP(weight);
     }
+#endif
   };
 
   typedef std::vector<Edge> Edges;

gtsam/linear/VectorValues.h

@@ -369,11 +369,13 @@ namespace gtsam {
 
   private:
     /** Serialization function */
+#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
     friend class boost::serialization::access;
     template<class ARCHIVE>
     void serialize(ARCHIVE & ar, const unsigned int /*version*/) {
       ar & BOOST_SERIALIZATION_NVP(values_);
     }
+#endif
   }; // VectorValues definition
 
   /// traits

gtsam/navigation/AHRSFactor.h

@@ -121,6 +121,7 @@ class GTSAM_EXPORT PreintegratedAhrsMeasurements : public PreintegratedRotation
 private:
 
   /** Serialization function */
+#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
   friend class boost::serialization::access;
   template<class ARCHIVE>
   void serialize(ARCHIVE & ar, const unsigned int /*version*/) {
@@ -128,6 +129,7 @@ private:
     ar & BOOST_SERIALIZATION_NVP(p_);
     ar & BOOST_SERIALIZATION_NVP(biasHat_);
   }
+#endif
 };
 
 class GTSAM_EXPORT AHRSFactor: public NoiseModelFactorN<Rot3, Rot3, Vector3> {

gtsam/navigation/AttitudeFactor.h

@@ -64,12 +64,14 @@ public:
   }
 
   /** Serialization function */
+#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
   friend class boost::serialization::access;
   template<class ARCHIVE>
   void serialize(ARCHIVE & ar, const unsigned int /*version*/) {
     ar & boost::serialization::make_nvp("nZ_",  nZ_);
     ar & boost::serialization::make_nvp("bRef_", bRef_);
   }
+#endif
 };
 
 /**

gtsam/navigation/BarometricFactor.h

@@ -98,6 +98,7 @@ class GTSAM_EXPORT BarometricFactor : public NoiseModelFactorN<Pose3, double> {
 
    private:
     /// Serialization function
+#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION    ///
     friend class boost::serialization::access;
     template <class ARCHIVE>
     void serialize(ARCHIVE& ar, const unsigned int /*version*/) {
@@ -107,6 +108,7 @@ class GTSAM_EXPORT BarometricFactor : public NoiseModelFactorN<Pose3, double> {
             boost::serialization::base_object<Base>(*this));
         ar& BOOST_SERIALIZATION_NVP(nT_);
     }
+#endif
 };
 
 }  // namespace gtsam

gtsam/navigation/CombinedImuFactor.h

@@ -102,6 +102,7 @@ struct GTSAM_EXPORT PreintegrationCombinedParams : PreintegrationParams {
 private:
 
   /** Serialization function */
+#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
   friend class boost::serialization::access;
   template <class ARCHIVE>
   void serialize(ARCHIVE& ar, const unsigned int /*version*/) {
@@ -111,6 +112,7 @@ private:
     ar & BOOST_SERIALIZATION_NVP(biasOmegaCovariance);
     ar & BOOST_SERIALIZATION_NVP(biasAccOmegaInt);
   }
+#endif
 
 public:
   GTSAM_MAKE_ALIGNED_OPERATOR_NEW

gtsam/navigation/GPSFactor.h

@@ -98,6 +98,7 @@ public:
 private:
 
   /// Serialization function
+#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION  ///
   friend class boost::serialization::access;
   template<class ARCHIVE>
   void serialize(ARCHIVE & ar, const unsigned int /*version*/) {
@@ -107,6 +108,7 @@ private:
             boost::serialization::base_object<Base>(*this));
     ar & BOOST_SERIALIZATION_NVP(nT_);
   }
+#endif
 };
 
 /**

gtsam/navigation/ImuBias.h

@@ -141,12 +141,14 @@ private:
   /// @{
 
   /** Serialization function */
+#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
   friend class boost::serialization::access;
   template<class ARCHIVE>
   void serialize(ARCHIVE & ar, const unsigned int /*version*/) {
     ar & BOOST_SERIALIZATION_NVP(biasAcc_);
     ar & BOOST_SERIALIZATION_NVP(biasGyro_);
   }
+#endif
 
 
 public:

gtsam/navigation/ImuFactor.h

@@ -147,6 +147,7 @@ public:
 
  private:
   /// Serialization function
+#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION  ///
   friend class boost::serialization::access;
   template<class ARCHIVE>
   void serialize(ARCHIVE & ar, const unsigned int /*version*/) {
@@ -154,6 +155,7 @@ public:
     ar & BOOST_SERIALIZATION_BASE_OBJECT_NVP(PreintegrationType);
     ar & BOOST_SERIALIZATION_NVP(preintMeasCov_);
   }
+#endif
 };
 
 /**

gtsam/navigation/MagPoseFactor.h

@@ -133,6 +133,7 @@ class MagPoseFactor: public NoiseModelFactorN<POSE> {
 
  private:
   /// Serialization function.
+#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION  ///
   friend class boost::serialization::access;
   template<class ARCHIVE>
   void serialize(ARCHIVE & ar, const unsigned int /*version*/) {
@@ -144,6 +145,7 @@ class MagPoseFactor: public NoiseModelFactorN<POSE> {
     ar & BOOST_SERIALIZATION_NVP(bias_);
     ar & BOOST_SERIALIZATION_NVP(body_P_sensor_);
   }
+#endif
 };  // \class MagPoseFactor
 
 } /// namespace gtsam

gtsam/navigation/ManifoldPreintegration.h

@@ -114,6 +114,7 @@ public:
 
 private:
   /** Serialization function */
+#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
   friend class boost::serialization::access;
   template<class ARCHIVE>
   void serialize(ARCHIVE & ar, const unsigned int /*version*/) {
@@ -126,6 +127,7 @@ private:
     ar & BOOST_SERIALIZATION_NVP(delVdelBiasAcc_);
     ar & BOOST_SERIALIZATION_NVP(delVdelBiasOmega_);
   }
+#endif
 };
 
 } /// namespace gtsam

gtsam/navigation/NavState.h

@@ -190,6 +190,7 @@ public:
 private:
   /// @{
   /// serialization
+#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION  ///
   friend class boost::serialization::access;
   template<class ARCHIVE>
   void serialize(ARCHIVE & ar, const unsigned int /*version*/) {
@@ -197,6 +198,7 @@ private:
     ar & BOOST_SERIALIZATION_NVP(t_);
     ar & BOOST_SERIALIZATION_NVP(v_);
   }
+#endif
   /// @}
 };
 

gtsam/navigation/PreintegratedRotation.h

@@ -61,6 +61,7 @@ struct GTSAM_EXPORT PreintegratedRotationParams {
 
  private:
   /** Serialization function */
+#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
   friend class boost::serialization::access;
   template<class ARCHIVE>
   void serialize(ARCHIVE & ar, const unsigned int /*version*/) {
@@ -75,6 +76,7 @@ struct GTSAM_EXPORT PreintegratedRotationParams {
       ar & BOOST_SERIALIZATION_NVP(*omegaCoriolis);
     }
   }
+#endif
 
 #ifdef GTSAM_USE_QUATERNIONS
   // Align if we are using Quaternions

gtsam/navigation/PreintegrationBase.h

@@ -174,6 +174,7 @@ class GTSAM_EXPORT PreintegrationBase {
 
  private:
   /** Serialization function */
+#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
   friend class boost::serialization::access;
   template<class ARCHIVE>
   void serialize(ARCHIVE & ar, const unsigned int /*version*/) {
@@ -181,6 +182,7 @@ class GTSAM_EXPORT PreintegrationBase {
     ar & BOOST_SERIALIZATION_NVP(biasHat_);
     ar & BOOST_SERIALIZATION_NVP(deltaTij_);
   }
+#endif
 
  public:
   GTSAM_MAKE_ALIGNED_OPERATOR_NEW

gtsam/navigation/PreintegrationParams.h

@@ -72,6 +72,7 @@ struct GTSAM_EXPORT PreintegrationParams: PreintegratedRotationParams {
 protected:
 
   /** Serialization function */
+#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
   friend class boost::serialization::access;
   template<class ARCHIVE>
   void serialize(ARCHIVE & ar, const unsigned int /*version*/) {
@@ -82,6 +83,7 @@ protected:
     ar & BOOST_SERIALIZATION_NVP(use2ndOrderCoriolis);
     ar & BOOST_SERIALIZATION_NVP(n_gravity);
   }
+#endif
 
 #ifdef GTSAM_USE_QUATERNIONS
   // Align if we are using Quaternions

gtsam/navigation/TangentPreintegration.h

@@ -128,6 +128,7 @@ public:
 
 private:
   /** Serialization function */
+#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
   friend class boost::serialization::access;
   template<class ARCHIVE>
   void serialize(ARCHIVE & ar, const unsigned int /*version*/) {
@@ -137,6 +138,7 @@ private:
     ar & BOOST_SERIALIZATION_NVP(preintegrated_H_biasAcc_);
     ar & BOOST_SERIALIZATION_NVP(preintegrated_H_biasOmega_);
   }
+#endif
 
 public:
   GTSAM_MAKE_ALIGNED_OPERATOR_NEW

gtsam/nonlinear/CustomFactor.h

@@ -91,12 +91,14 @@ public:
 private:
 
   /** Serialization function */
+#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
   friend class boost::serialization::access;
   template<class ARCHIVE>
   void serialize(ARCHIVE &ar, const unsigned int /*version*/) {
     ar & boost::serialization::make_nvp("CustomFactor",
                                         boost::serialization::base_object<Base>(*this));
   }
+#endif
 };
 
 }

gtsam/nonlinear/ExpressionFactor.h

@@ -198,6 +198,7 @@ protected:
  }
 
 private:
+#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
  /// Save to an archive: just saves the base class
  template <class Archive>
  void save(Archive& ar, const unsigned int /*version*/) const {
@@ -218,6 +219,7 @@ private:
  BOOST_SERIALIZATION_SPLIT_MEMBER()
 
  friend class boost::serialization::access;
+#endif
 
  // Alignment, see https://eigen.tuxfamily.org/dox/group__TopicStructHavingEigenMembers.html
  enum { NeedsToAlign = (sizeof(T) % 16) == 0 };

gtsam/nonlinear/FunctorizedFactor.h

@@ -120,6 +120,7 @@ class FunctorizedFactor : public NoiseModelFactorN<T> {
 
  private:
   /** Serialization function */
+#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
   friend class boost::serialization::access;
   template <class ARCHIVE>
   void serialize(ARCHIVE &ar, const unsigned int /*version*/) {
@@ -129,6 +130,7 @@ class FunctorizedFactor : public NoiseModelFactorN<T> {
     ar &BOOST_SERIALIZATION_NVP(measured_);
     ar &BOOST_SERIALIZATION_NVP(func_);
   }
+#endif
 };
 
 /// traits

gtsam/nonlinear/ISAM2.h

@@ -341,6 +341,7 @@ class GTSAM_EXPORT ISAM2 : public BayesTree<ISAM2Clique> {
 
  private:
   /** Serialization function */
+#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
   friend class boost::serialization::access;
   template<class ARCHIVE>
   void serialize(ARCHIVE & ar, const unsigned int /*version*/) {
@@ -357,6 +358,7 @@ class GTSAM_EXPORT ISAM2 : public BayesTree<ISAM2Clique> {
       ar & BOOST_SERIALIZATION_NVP(fixedVariables_);
       ar & BOOST_SERIALIZATION_NVP(update_count_);
   }
+#endif
 
 };  // ISAM2
 

gtsam/nonlinear/ISAM2Clique.h

@@ -148,6 +148,7 @@ class GTSAM_EXPORT ISAM2Clique
                             VectorValues* delta) const;
 
   /** Serialization function */
+#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
   friend class boost::serialization::access;
   template <class ARCHIVE>
   void serialize(ARCHIVE& ar, const unsigned int /*version*/) {
@@ -155,6 +156,7 @@ class GTSAM_EXPORT ISAM2Clique
     ar& BOOST_SERIALIZATION_NVP(cachedFactor_);
     ar& BOOST_SERIALIZATION_NVP(gradientContribution_);
   }
+#endif
 };  // \struct ISAM2Clique
 
 /**

gtsam/nonlinear/LinearContainerFactor.h

@@ -164,6 +164,7 @@ public:
 
  private:
   /** Serialization function */
+#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
   friend class boost::serialization::access;
   template<class ARCHIVE>
   void serialize(ARCHIVE & ar, const unsigned int /*version*/) {
@@ -172,6 +173,7 @@ public:
     ar & BOOST_SERIALIZATION_NVP(factor_);
     ar & BOOST_SERIALIZATION_NVP(linearizationPoint_);
   }
+#endif
 
 }; // \class LinearContainerFactor
 

gtsam/nonlinear/NonlinearEquality.h

@@ -183,6 +183,7 @@ public:
 private:
 
   /// Serialization function
+#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION  ///
   friend class boost::serialization::access;
   template<class ARCHIVE>
   void serialize(ARCHIVE & ar, const unsigned int /*version*/) {
@@ -194,6 +195,7 @@ private:
     ar & BOOST_SERIALIZATION_NVP(allow_error_);
     ar & BOOST_SERIALIZATION_NVP(error_gain_);
   }
+#endif
 
 };
 // \class NonlinearEquality

gtsam/nonlinear/NonlinearFactor.h

@@ -304,6 +304,7 @@ public:
 
  private:
   /** Serialization function */
+#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
   friend class boost::serialization::access;
   template<class ARCHIVE>
   void serialize(ARCHIVE & ar, const unsigned int /*version*/) {
@@ -311,6 +312,7 @@ public:
          boost::serialization::base_object<Base>(*this));
     ar & BOOST_SERIALIZATION_NVP(noiseModel_);
   }
+#endif
 
 }; // \class NoiseModelFactor
 

gtsam/nonlinear/NonlinearFactorGraph.h

@@ -254,12 +254,14 @@ namespace gtsam {
         const Values& values, const Scatter& scatter, const Dampen& dampen = nullptr) const;
 
     /** Serialization function */
+#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
     friend class boost::serialization::access;
     template<class ARCHIVE>
     void serialize(ARCHIVE & ar, const unsigned int /*version*/) {
       ar & boost::serialization::make_nvp("NonlinearFactorGraph",
                 boost::serialization::base_object<Base>(*this));
     }
+#endif
   };
 
 /// traits

gtsam/nonlinear/PriorFactor.h

@@ -106,6 +106,7 @@ namespace gtsam {
   private:
 
     /** Serialization function */
+#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
     friend class boost::serialization::access;
     template<class ARCHIVE>
     void serialize(ARCHIVE & ar, const unsigned int /*version*/) {
@@ -114,6 +115,7 @@ namespace gtsam {
           boost::serialization::base_object<Base>(*this));
       ar & BOOST_SERIALIZATION_NVP(prior_);
     }
+#endif
 
   // Alignment, see https://eigen.tuxfamily.org/dox/group__TopicStructHavingEigenMembers.html
   enum { NeedsToAlign = (sizeof(T) % 16) == 0 };

gtsam/nonlinear/Values.h

@@ -350,11 +350,13 @@ namespace gtsam {
     }
 
     /** Serialization function */
+#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
     friend class boost::serialization::access;
     template<class ARCHIVE>
     void serialize(ARCHIVE & ar, const unsigned int /*version*/) {
       ar & BOOST_SERIALIZATION_NVP(values_);
     }
+#endif
 
     static ConstKeyValuePair make_const_deref_pair(const KeyValueMap::const_iterator::value_type& key_value) {
       return ConstKeyValuePair(key_value.first, *key_value.second); }

gtsam/sam/BearingFactor.h

@@ -75,12 +75,14 @@ struct BearingFactor : public ExpressionFactorN<T, A1, A2> {
 
 
  private:
+#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
   friend class boost::serialization::access;
   template <class ARCHIVE>
   void serialize(ARCHIVE& ar, const unsigned int /*version*/) {
     ar& boost::serialization::make_nvp(
         "Base", boost::serialization::base_object<Base>(*this));
   }
+#endif
 };  // BearingFactor
 
 /// traits

gtsam/sam/BearingRangeFactor.h

@@ -93,12 +93,14 @@ class BearingRangeFactor
 
 
  private:
+#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
   friend class boost::serialization::access;
   template <class ARCHIVE>
   void serialize(ARCHIVE& ar, const unsigned int /*version*/) {
     ar& boost::serialization::make_nvp(
         "Base", boost::serialization::base_object<Base>(*this));
   }
+#endif
 };  // BearingRangeFactor
 
 /// traits

gtsam/sam/RangeFactor.h

@@ -80,12 +80,14 @@ class RangeFactor : public ExpressionFactorN<T, A1, A2> {
   }
 
  private:
+#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
   friend class boost::serialization::access;
   template <class ARCHIVE>
   void serialize(ARCHIVE& ar, const unsigned int /*version*/) {
     ar& boost::serialization::make_nvp(
         "Base", boost::serialization::base_object<Base>(*this));
   }
+#endif
 };  // \ RangeFactor
 
 /// traits

gtsam/sfm/SfmData.h

@@ -126,12 +126,15 @@ struct GTSAM_EXPORT SfmData {
   /// @{
 
   /** Serialization function */
+#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
   friend class boost::serialization::access;
   template <class Archive>
   void serialize(Archive& ar, const unsigned int /*version*/) {
     ar& BOOST_SERIALIZATION_NVP(cameras);
     ar& BOOST_SERIALIZATION_NVP(tracks);
   }
+#endif
+
 
   /// @}
 };

gtsam/sfm/SfmTrack.h

@@ -162,6 +162,7 @@ struct GTSAM_EXPORT SfmTrack : SfmTrack2d {
   /// @{
 
   /** Serialization function */
+#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
   friend class boost::serialization::access;
   template <class ARCHIVE>
   void serialize(ARCHIVE& ar, const unsigned int /*version*/) {
@@ -172,6 +173,7 @@ struct GTSAM_EXPORT SfmTrack : SfmTrack2d {
     ar& BOOST_SERIALIZATION_NVP(measurements);
     ar& BOOST_SERIALIZATION_NVP(siftIndices);
   }
+#endif
   /// @}
 };
 

gtsam/sfm/TranslationFactor.h

@@ -80,11 +80,13 @@ class TranslationFactor : public NoiseModelFactorN<Point3, Point3> {
   }
 
  private:
+#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
   friend class boost::serialization::access;
   template <class ARCHIVE>
   void serialize(ARCHIVE& ar, const unsigned int /*version*/) {
     ar& boost::serialization::make_nvp(
         "Base", boost::serialization::base_object<Base>(*this));
   }
+#endif
 };  // \ TranslationFactor
 }  // namespace gtsam

gtsam/slam/AntiFactor.h

@@ -107,6 +107,7 @@ namespace gtsam {
   private:
 
     /** Serialization function */
+#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
     friend class boost::serialization::access;
     template<class ARCHIVE>
     void serialize(ARCHIVE & ar, const unsigned int /*version*/) {
@@ -114,6 +115,7 @@ namespace gtsam {
           boost::serialization::base_object<Base>(*this));
       ar & BOOST_SERIALIZATION_NVP(factor_);
     }
+#endif
   }; // \class AntiFactor
 
 } /// namespace gtsam

gtsam/slam/BetweenFactor.h

@@ -136,6 +136,7 @@ namespace gtsam {
   private:
 
     /** Serialization function */
+#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
     friend class boost::serialization::access;
     template<class ARCHIVE>
     void serialize(ARCHIVE & ar, const unsigned int /*version*/) {
@@ -144,6 +145,7 @@ namespace gtsam {
           boost::serialization::base_object<Base>(*this));
       ar & BOOST_SERIALIZATION_NVP(measured_);
     }
+#endif
 
 	  // Alignment, see https://eigen.tuxfamily.org/dox/group__TopicStructHavingEigenMembers.html
 	  enum { NeedsToAlign = (sizeof(VALUE) % 16) == 0 };

gtsam/slam/BoundingConstraint.h

@@ -84,6 +84,7 @@ struct BoundingConstraint1: public NoiseModelFactorN<VALUE> {
 private:
 
   /** Serialization function */
+#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
   friend class boost::serialization::access;
   template<class ARCHIVE>
   void serialize(ARCHIVE & ar, const unsigned int /*version*/) {
@@ -93,6 +94,7 @@ private:
     ar & BOOST_SERIALIZATION_NVP(threshold_);
     ar & BOOST_SERIALIZATION_NVP(isGreaterThan_);
   }
+#endif
 };
 
 /**

gtsam/slam/EssentialMatrixConstraint.h

@@ -92,6 +92,7 @@ public:
 private:
 
   /** Serialization function */
+#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
   friend class boost::serialization::access;
   template<class ARCHIVE>
   void serialize(ARCHIVE & ar, const unsigned int /*version*/) {
@@ -101,6 +102,7 @@ private:
             boost::serialization::base_object<Base>(*this));
     ar & BOOST_SERIALIZATION_NVP(measuredE_);
   }
+#endif
 
 public:
   GTSAM_MAKE_ALIGNED_OPERATOR_NEW