fixed serialization (no need to save B!)

gtsam/geometry/Unit3.h

@@ -147,7 +147,7 @@ public:
 
   enum CoordinatesMode {
     EXPMAP, ///< Use the exponential map to retract
-    RENORM ///< Retract with vector addtion and renormalize.
+    RENORM ///< Retract with vector addition and renormalize.
   };
 
   /// The retract function
@@ -167,13 +167,6 @@ private:
   template<class ARCHIVE>
   void serialize(ARCHIVE & ar, const unsigned int /*version*/) {
     ar & BOOST_SERIALIZATION_NVP(p_);
-    // homebrew serialize Eigen Matrix
-    ar & boost::serialization::make_nvp("B11", (*B_)(0, 0));
-    ar & boost::serialization::make_nvp("B12", (*B_)(0, 1));
-    ar & boost::serialization::make_nvp("B21", (*B_)(1, 0));
-    ar & boost::serialization::make_nvp("B22", (*B_)(1, 1));
-    ar & boost::serialization::make_nvp("B31", (*B_)(2, 0));
-    ar & boost::serialization::make_nvp("B32", (*B_)(2, 1));
   }
 
   /// @}

gtsam/geometry/tests/testUnit3.cpp

@@ -22,11 +22,13 @@
 #include <gtsam/geometry/Rot3.h>
 #include <gtsam/base/Testable.h>
 #include <gtsam/base/numericalDerivative.h>
+#include <gtsam/base/serializationTestHelpers.h>
+
 #include <CppUnitLite/TestHarness.h>
+
 #include <boost/bind.hpp>
 #include <boost/foreach.hpp>
 #include <boost/random.hpp>
-//#include <boost/thread.hpp>
 #include <boost/assign/std/vector.hpp>
 #include <cmath>
 
@@ -365,6 +367,14 @@ TEST (Unit3, FromPoint3) {
   EXPECT(assert_equal(expectedH, actualH, 1e-8));
 }
 
+/* ************************************************************************* */
+TEST(actualH, Serialization) {
+  Unit3 p(0, 1, 0);
+  EXPECT(serializationTestHelpers::equalsObj(p));
+  EXPECT(serializationTestHelpers::equalsXML(p));
+  EXPECT(serializationTestHelpers::equalsBinary(p));
+}
+
 /* ************************************************************************* */
 int main() {
   srand(time(NULL));