From 84bb4185298a080670be7235465b9730932e4352 Mon Sep 17 00:00:00 2001 From: Varun Agrawal Date: Tue, 14 Jul 2020 02:23:19 -0400 Subject: [PATCH] fix serialization warning for boost::optional --- gtsam/navigation/PreintegratedRotation.h | 8 +++++++- 1 file changed, 7 insertions(+), 1 deletion(-) diff --git a/gtsam/navigation/PreintegratedRotation.h b/gtsam/navigation/PreintegratedRotation.h index 9346f749a..0e0559a32 100644 --- a/gtsam/navigation/PreintegratedRotation.h +++ b/gtsam/navigation/PreintegratedRotation.h @@ -62,8 +62,14 @@ struct GTSAM_EXPORT PreintegratedRotationParams { void serialize(ARCHIVE & ar, const unsigned int /*version*/) { namespace bs = ::boost::serialization; ar & BOOST_SERIALIZATION_NVP(gyroscopeCovariance); - ar & BOOST_SERIALIZATION_NVP(omegaCoriolis); ar & BOOST_SERIALIZATION_NVP(body_P_sensor); + + // Provide support for Eigen::Matrix in boost::optional + bool omegaCoriolisFlag = omegaCoriolis.is_initialized(); + ar & boost::serialization::make_nvp("omegaCoriolisFlag", omegaCoriolisFlag); + if (omegaCoriolisFlag) { + ar & BOOST_SERIALIZATION_NVP(*omegaCoriolis); + } } #ifdef GTSAM_USE_QUATERNIONS