From 92dbc8910e2a39607fa1129c4ba9919d815a62b6 Mon Sep 17 00:00:00 2001
From: Frank Dellaert <dellaert@gmail.com>
Date: Mon, 31 Aug 2009 04:13:57 +0000
Subject: [PATCH] correct serialization of base classes moved all serialize
 functions to bottom of class declaration

---
 cpp/Cal3_S2.h              |  2 +-
 cpp/FactorGraph.h          | 17 ++++++-------
 cpp/NonlinearFactor.h      | 49 ++++++++++++++++++++------------------
 cpp/NonlinearFactorGraph.h | 24 +++++++++++--------
 4 files changed, 50 insertions(+), 42 deletions(-)

diff --git a/cpp/Cal3_S2.h b/cpp/Cal3_S2.h
index 26a60dd46..b5b28564d 100644
--- a/cpp/Cal3_S2.h
+++ b/cpp/Cal3_S2.h
@@ -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);
diff --git a/cpp/FactorGraph.h b/cpp/FactorGraph.h
index fb900ad26..fdf935981 100644
--- a/cpp/FactorGraph.h
+++ b/cpp/FactorGraph.h
@@ -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
diff --git a/cpp/NonlinearFactor.h b/cpp/NonlinearFactor.h
index 1b2e77f55..542ae31aa 100644
--- a/cpp/NonlinearFactor.h
+++ b/cpp/NonlinearFactor.h
@@ -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:
 
diff --git a/cpp/NonlinearFactorGraph.h b/cpp/NonlinearFactorGraph.h
index 8de58df57..fef282501 100644
--- a/cpp/NonlinearFactorGraph.h
+++ b/cpp/NonlinearFactorGraph.h
@@ -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));
+	}
+
 };
 }