Added serialization functions to Fast* containers (wrappers around STL containers that use a boost pool allocator for speed)

gtsam/base/FastList.h

@@ -20,6 +20,8 @@
 
 #include <list>
 #include <boost/pool/pool_alloc.hpp>
+#include <boost/serialization/nvp.hpp>
+#include <boost/serialization/list.hpp>
 
 namespace gtsam {
 
@@ -51,6 +53,14 @@ public:
   /** Copy constructor from the base map class */
   FastList(const Base& x) : Base(x) {}
 
+private:
+  /** Serialization function */
+  friend class boost::serialization::access;
+  template<class ARCHIVE>
+  void serialize(ARCHIVE & ar, const unsigned int version) {
+    ar & BOOST_SERIALIZATION_BASE_OBJECT_NVP(Base);
+  }
+
 };
 
 }

gtsam/base/FastMap.h

@@ -20,7 +20,8 @@
 
 #include <map>
 #include <boost/pool/pool_alloc.hpp>
-#include <boost/serialization/base_object.hpp>
+#include <boost/serialization/nvp.hpp>
+#include <boost/serialization/map.hpp>
 
 namespace gtsam {
 
@@ -52,12 +53,12 @@ public:
   /** Copy constructor from the base map class */
   FastMap(const Base& x) : Base(x) {}
 
-  private:
+private:
   /** Serialization function */
   friend class boost::serialization::access;
   template<class ARCHIVE>
   void serialize(ARCHIVE & ar, const unsigned int version) {
-    ar & boost::serialization::base_object<Base>(*this);
+    ar & BOOST_SERIALIZATION_BASE_OBJECT_NVP(Base);
   }
 };
 

gtsam/base/FastSet.h

@@ -25,6 +25,8 @@
 #include <boost/pool/pool_alloc.hpp>
 #include <boost/mpl/has_xxx.hpp>
 #include <boost/utility/enable_if.hpp>
+#include <boost/serialization/nvp.hpp>
+#include <boost/serialization/set.hpp>
 
 BOOST_MPL_HAS_XXX_TRAIT_DEF(print)
 
@@ -74,6 +76,14 @@ public:
 
   /** Check for equality within tolerance to implement Testable */
   bool equals(const FastSet<VALUE>& other, double tol = 1e-9) const { return FastSetTestableHelper<VALUE>::equals(*this, other, tol); }
+
+private:
+  /** Serialization function */
+  friend class boost::serialization::access;
+  template<class ARCHIVE>
+  void serialize(ARCHIVE & ar, const unsigned int version) {
+    ar & BOOST_SERIALIZATION_BASE_OBJECT_NVP(Base);
+  }
 };
 
 // This is the default Testable interface for *non*Testable elements, which

gtsam/base/FastVector.h

@@ -20,6 +20,8 @@
 
 #include <vector>
 #include <boost/pool/pool_alloc.hpp>
+#include <boost/serialization/nvp.hpp>
+#include <boost/serialization/vector.hpp>
 
 namespace gtsam {
 
@@ -56,6 +58,14 @@ public:
   /** Copy constructor from the base map class */
   FastVector(const Base& x) : Base(x) {}
 
+private:
+  /** Serialization function */
+  friend class boost::serialization::access;
+  template<class ARCHIVE>
+  void serialize(ARCHIVE & ar, const unsigned int version) {
+    ar & BOOST_SERIALIZATION_BASE_OBJECT_NVP(Base);
+  }
+
 };
 
 }

gtsam/base/tests/testSerializationBase.cpp

@@ -18,6 +18,10 @@
 
 #include <gtsam/base/Matrix.h>
 #include <gtsam/base/Vector.h>
+#include <gtsam/base/FastList.h>
+#include <gtsam/base/FastMap.h>
+#include <gtsam/base/FastSet.h>
+#include <gtsam/base/FastVector.h>
 
 #include <gtsam/base/serializationTestHelpers.h>
 #include <CppUnitLite/TestHarness.h>
@@ -26,6 +30,53 @@ using namespace std;
 using namespace gtsam;
 using namespace gtsam::serializationTestHelpers;
 
+Vector v1 = Vector_(2, 1.0, 2.0);
+Vector v2 = Vector_(2, 3.0, 4.0);
+Vector v3 = Vector_(2, 5.0, 6.0);
+
+/* ************************************************************************* */
+TEST (Serialization, FastList) {
+  FastList<Vector> list;
+  list.push_back(v1);
+  list.push_back(v2);
+  list.push_back(v3);
+
+  EXPECT(equality(list));
+  EXPECT(equalityXML(list));
+}
+
+/* ************************************************************************* */
+TEST (Serialization, FastMap) {
+  FastMap<int, Vector> map;
+  map.insert(make_pair(1, v1));
+  map.insert(make_pair(2, v2));
+  map.insert(make_pair(3, v3));
+
+  EXPECT(equality(map));
+  EXPECT(equalityXML(map));
+}
+
+/* ************************************************************************* */
+TEST (Serialization, FastSet) {
+  FastSet<double> set;
+  set.insert(1.0);
+  set.insert(2.0);
+  set.insert(3.0);
+
+  EXPECT(equality(set));
+  EXPECT(equalityXML(set));
+}
+
+/* ************************************************************************* */
+TEST (Serialization, FastVector) {
+  FastVector<Vector> vector;
+  vector.push_back(v1);
+  vector.push_back(v2);
+  vector.push_back(v3);
+
+  EXPECT(equality(vector));
+  EXPECT(equalityXML(vector));
+}
 
 /* ************************************************************************* */
 TEST (Serialization, matrix_vector) {
@@ -36,6 +87,9 @@ TEST (Serialization, matrix_vector) {
   EXPECT(equalityXML<Matrix>(Matrix_(2, 2, 1.0, 2.0, 3.0, 4.0)));
 }
 
+/* ************************************************************************* */
+
+
 /* ************************************************************************* */
 int main() { TestResult tr; return TestRegistry::runAllTests(tr); }
 /* ************************************************************************* */