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correct serialization of base classes 

moved all serialize functions to bottom of class declaration
release/4.3a0
Frank Dellaert 2009-08-31 04:13:57 +00:00
parent c69d8d9b36
commit 92dbc8910e
4 changed files with 50 additions and 42 deletions
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2
cpp/Cal3_S2.h
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@ -89,7 +89,7 @@ namespace gtsam {
/**
* Check if equal up to specified tolerance
*/
bool equals(const Cal3_S2& K, double tol) const;
bool equals(const Cal3_S2& K, double tol = 10e-9) const;
/** friends */
friend Matrix Duncalibrate2(const Cal3_S2& K, const Point2& p);

17
cpp/FactorGraph.h
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@ -32,13 +32,6 @@ namespace gtsam {
/** Collection of factors */
std::vector<shared_factor> factors_;
/** Serialization function */
friend class boost::serialization::access;
template<class Archive>
void serialize(Archive & ar, const unsigned int version) {
ar & BOOST_SERIALIZATION_NVP(factors_);
}
public:
/** STL like, return the iterator pointing to the first factor */
@ -109,6 +102,14 @@ namespace gtsam {
fg.print();
return false;
}
};
private:
/** Serialization function */
friend class boost::serialization::access;
template<class Archive>
void serialize(Archive & ar, const unsigned int version) {
ar & BOOST_SERIALIZATION_NVP(factors_);
}
}; // FactorGraph
} // namespace gtsam

49
cpp/NonlinearFactor.h
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@ -33,23 +33,11 @@ namespace gtsam {
//typedef boost::shared_ptr<LinearFactor> shared_ptr;
/**
* Nonlinear factor which assume Gaussian noise on a measurement
* predicted by a non-linear function h
* Nonlinear factor which assumes Gaussian noise on a measurement
* predicted by a non-linear function h.
*/
class NonlinearFactor : public Factor
{
private:
/** Serialization function */
friend class boost::serialization::access;
template<class Archive>
void serialize(Archive & ar, const unsigned int version) {
// ar & boost::serialization::base_object<Factor>(*this); // TODO: needed ?
ar & BOOST_SERIALIZATION_NVP(z_);
ar & BOOST_SERIALIZATION_NVP(sigma_);
ar & BOOST_SERIALIZATION_NVP(keys_);
}
protected:
Vector z_; // measurement
@ -93,13 +81,27 @@ namespace gtsam {
/** dump the information of the factor into a string **/
std::string dump() const{return "";}
};
private:
/** Serialization function */
friend class boost::serialization::access;
template<class Archive>
void serialize(Archive & ar, const unsigned int version) {
// ar & boost::serialization::base_object<Factor>(*this); // TODO: needed ?
ar & BOOST_SERIALIZATION_NVP(z_);
ar & BOOST_SERIALIZATION_NVP(sigma_);
ar & BOOST_SERIALIZATION_NVP(keys_);
}
}; // NonlinearFactor
/* ************************************************************************* */
/* a Gaussian nonlinear factor that takes 1 parameter */
/* ************************************************************************* */
/**
* a Gaussian nonlinear factor that takes 1 parameter
* Note: cannot be serialized as contains function pointers
* Specialized derived classes could do this
*/
class NonlinearFactor1 : public NonlinearFactor {
public:
@ -130,10 +132,11 @@ namespace gtsam {
std::string dump() const {return "";}
};
/* ************************************************************************* */
/* A Gaussian nonlinear factor that takes 2 parameters */
/* ************************************************************************* */
/**
* a Gaussian nonlinear factor that takes 2 parameters
* Note: cannot be serialized as contains function pointers
* Specialized derived classes could do this
*/
class NonlinearFactor2 : public NonlinearFactor {
public:

24
cpp/NonlinearFactorGraph.h
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@ -19,18 +19,11 @@
namespace gtsam {
typedef FactorGraph<NonlinearFactor> BaseFactorGraph;
/** Factor Graph Constsiting of non-linear factors */
class NonlinearFactorGraph : public FactorGraph<NonlinearFactor>
class NonlinearFactorGraph : public BaseFactorGraph
{
private:
/** Serialization function */
friend class boost::serialization::access;
template<class Archive>
void serialize(Archive & ar, const unsigned int version) {
ar & boost::serialization::base_object< FactorGraph<NonlinearFactor> >(*this);
}
public: // internal, exposed for testing only, doc in .cpp file
FGConfig iterate(const FGConfig& config, const Ordering& ordering) const;
@ -117,5 +110,16 @@ public: // these you will probably want to use
double lambda0,
double lambdaFactor) const ;
private:
/** Serialization function */
friend class boost::serialization::access;
template<class Archive>
void serialize(Archive & ar, const unsigned int version) {
// do not use BOOST_SERIALIZATION_NVP for this name-value-pair ! It will crash.
ar & boost::serialization::make_nvp("BaseFactorGraph",
boost::serialization::base_object<BaseFactorGraph>(*this));
}
};
}