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Removed extraneous headers that were causing problems related to boost serialization and added testSerialization with conditional compiling (--enable-serialization). Currently, the test is all commented out, and it should not affect those not using the flag.

release/4.3a0
Alex Cunningham 2010-08-27 15:31:20 +00:00
parent d17aef492c
commit a461680a2b
19 changed files with 444 additions and 220 deletions
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341
.cproject
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File diff suppressed because it is too large Load Diff

3
config.h.in
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@ -1,8 +1,5 @@
/* config.h.in. Generated from configure.ac by autoheader. */
/* boost serialization flag */
#undef HAVE_BOOST_SERIALIZATION
/* Define to 1 if you have the <dlfcn.h> header file. */
#undef HAVE_DLFCN_H

27
configure.ac
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@ -98,7 +98,7 @@ AC_ARG_ENABLE([ldl],
[case "${enableval}" in
yes) ldl=true ;;
no) ldl=false ;;
*) AC_MSG_ERROR([bad value ${enableval} for --enable-debug]) ;;
*) AC_MSG_ERROR([bad value ${enableval} for --enable-ldl]) ;;
esac],[ldl=false])
AM_CONDITIONAL([USE_LDL], [test x$ldl = xtrue])
@ -114,6 +114,17 @@ AC_ARG_ENABLE([profiling],
AM_CONDITIONAL([USE_PROFILING], [test x$profiling = xtrue])
# enable serialization in serialization test
AC_ARG_ENABLE([serialization],
[ --enable-serialization Enable serialization with boost serialization],
[case "${enableval}" in
yes) serialization=true ;;
no) serialization=false ;;
*) AC_MSG_ERROR([bad value ${enableval} for --enable-serialization]) ;;
esac],[serialization=false])
AM_CONDITIONAL([ENABLE_SERIALIZATION], [test x$serialization = xtrue])
# Checks for programs.
AC_PROG_CXX
AC_PROG_CC
@ -160,13 +171,13 @@ AC_ARG_WITH([boost],
AC_SUBST([boost])
# ask for boost serialization
AC_ARG_WITH([boost_serialization],
[AS_HELP_STRING([--with-boost-serialization],
[(optional) use the Serialization library from boost - specify the library linking command with the full name of the library
e.g. --with-boost-serialization=-lboost_serialization-gcc-mt-d-1_33_1])],
[AC_DEFINE([HAVE_BOOST_SERIALIZATION], ["<boost/foreach.hpp>"], [boost serialization flag])
#AC_ARG_WITH([boost_serialization],
# [AS_HELP_STRING([--with-boost-serialization],
# [(optional) use the Serialization library from boost - specify the library linking command with the full name of the library
# e.g. --with-boost-serialization=-lboost_serialization-gcc-mt-d-1_33_1])],
# [AC_DEFINE([HAVE_BOOST_SERIALIZATION], ["<boost/foreach.hpp>"], [boost serialization flag])
#
#AC_SUBST([boost_serialization])
boost_serialization=$withval ])
AC_SUBST([boost_serialization])
AC_OUTPUT

4
inference/BayesNet.h
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@ -10,8 +10,8 @@
#include <list>
#include <boost/shared_ptr.hpp>
#include <boost/serialization/list.hpp>
#include <boost/serialization/shared_ptr.hpp>
//#include <boost/serialization/list.hpp>
//#include <boost/serialization/shared_ptr.hpp>
#include <gtsam/base/Testable.h>
#include <gtsam/inference/Key.h>

4
inference/BayesTree.h
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@ -10,8 +10,8 @@
#include <list>
#include <vector>
#include <boost/serialization/map.hpp>
#include <boost/serialization/list.hpp>
//#include <boost/serialization/map.hpp>
//#include <boost/serialization/list.hpp>
#include <stdexcept>
#include <gtsam/base/Testable.h>

6
inference/Conditional.h
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@ -9,9 +9,9 @@
#pragma once
#include <boost/utility.hpp> // for noncopyable
#include <boost/serialization/string.hpp>
#include <boost/serialization/access.hpp>
#include <boost/serialization/nvp.hpp>
//#include <boost/serialization/string.hpp>
//#include <boost/serialization/access.hpp>
//#include <boost/serialization/nvp.hpp>
#include <gtsam/base/Testable.h>
#include <gtsam/inference/Key.h>

8
inference/FactorGraph.h
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@ -11,10 +11,10 @@
#pragma once
#include <boost/shared_ptr.hpp>
#include <boost/serialization/map.hpp>
#include <boost/serialization/list.hpp>
#include <boost/serialization/vector.hpp>
#include <boost/serialization/shared_ptr.hpp>
//#include <boost/serialization/map.hpp>
//#include <boost/serialization/list.hpp>
//#include <boost/serialization/vector.hpp>
//#include <boost/serialization/shared_ptr.hpp>
#include <gtsam/base/Testable.h>
#include <gtsam/inference/BayesNet.h>

4
inference/ISAM.h
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@ -11,8 +11,8 @@
#include <map>
#include <list>
#include <vector>
#include <boost/serialization/map.hpp>
#include <boost/serialization/list.hpp>
//#include <boost/serialization/map.hpp>
//#include <boost/serialization/list.hpp>
#include <stdexcept>
#include <gtsam/base/Testable.h>

4
inference/ISAM2.h
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@ -11,8 +11,8 @@
#include <map>
#include <list>
#include <vector>
#include <boost/serialization/map.hpp>
#include <boost/serialization/list.hpp>
//#include <boost/serialization/map.hpp>
//#include <boost/serialization/list.hpp>
#include <stdexcept>
#include <gtsam/base/Testable.h>

6
inference/Key.h
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@ -11,7 +11,7 @@
#include <list>
#include <iostream>
#include <boost/format.hpp>
#include <boost/serialization/serialization.hpp>
//#include <boost/serialization/serialization.hpp>
#include <boost/serialization/nvp.hpp>
#ifdef GTSAM_MAGIC_KEY
#include <boost/lexical_cast.hpp>
@ -273,7 +273,9 @@ namespace gtsam {
friend class boost::serialization::access;
template<class Archive>
void serialize(Archive & ar, const unsigned int version) {
ar & BOOST_SERIALIZATION_NVP(this->j_);
typedef TypedSymbol<T,C> Base;
ar & boost::serialization::make_nvp("TypedLabeledSymbol",
boost::serialization::base_object<Base>(*this));
ar & BOOST_SERIALIZATION_NVP(label_);
}
};

4
inference/SymbolicBayesNet.h
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@ -9,8 +9,8 @@
#pragma once
#include <list>
#include <boost/serialization/map.hpp>
#include <boost/serialization/list.hpp>
//#include <boost/serialization/map.hpp>
//#include <boost/serialization/list.hpp>
#include <gtsam/base/Testable.h>
#include <gtsam/inference/BayesNet.h>

3
inference/SymbolicConditional.h
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@ -13,7 +13,8 @@
#include <iostream>
#include <boost/shared_ptr.hpp>
#include <boost/foreach.hpp> // TODO: make cpp file
#include <boost/serialization/list.hpp>
//#include <boost/serialization/list.hpp>
#include <boost/serialization/nvp.hpp>
#include <gtsam/inference/Conditional.h>
#include <gtsam/inference/Key.h>

4
linear/GaussianConditional.h
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@ -12,8 +12,8 @@
#include <list>
#include <boost/utility.hpp>
#include <boost/shared_ptr.hpp>
#include <boost/serialization/map.hpp>
#include <boost/serialization/shared_ptr.hpp>
//#include <boost/serialization/map.hpp>
//#include <boost/serialization/shared_ptr.hpp>
#include <gtsam/inference/Conditional.h>
#include <gtsam/linear/VectorConfig.h>

2
linear/GaussianFactor.h
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@ -11,7 +11,7 @@
#include <boost/shared_ptr.hpp>
#include <boost/tuple/tuple.hpp>
#include <boost/serialization/map.hpp>
//#include <boost/serialization/map.hpp>
#include <boost/foreach.hpp>
#include <list>
#include <set>

2
linear/VectorBTree.h
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@ -9,7 +9,7 @@
#pragma once
#include <map>
#include <boost/serialization/map.hpp>
//#include <boost/serialization/map.hpp>
#include <boost/numeric/ublas/storage.hpp>
#include <gtsam/base/Testable.h>

2
linear/VectorMap.h
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@ -10,7 +10,7 @@
#pragma once
#include <map>
#include <boost/serialization/map.hpp>
//#include <boost/serialization/map.hpp>
#include <gtsam/base/Testable.h>
#include <gtsam/base/Vector.h>

2
nonlinear/LieConfig.h
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@ -18,7 +18,7 @@
#include <map>
#include <set>
#include <boost/serialization/map.hpp>
//#include <boost/serialization/map.hpp>
#include <gtsam/base/Vector.h>
#include <gtsam/base/Testable.h>

13
tests/Makefile.am
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@ -17,6 +17,11 @@ check_PROGRAMS += testSymbolicBayesNet testSymbolicFactorGraph testTupleConfig
check_PROGRAMS += testNonlinearEqualityConstraint testBoundingConstraint
check_PROGRAMS += testTransformConstraint testLinearApproxFactor
# only if serialization is available
if ENABLE_SERIALIZATION
check_PROGRAMS += testSerialization
endif
# experimental
#check_PROGRAMS += testFusionTupleConfig # Doesn't work on Macs
@ -32,7 +37,13 @@ noinst_PROGRAMS = timeGaussianFactorGraph timeFactorOverhead
#----------------------------------------------------------------------------------------------------
TESTS = $(check_PROGRAMS)
AM_CPPFLAGS = -I$(boost) -I$(BORG_SRCROOT)
AM_LDFLAGS = $(BOOST_LDFLAGS) $(boost_serialization)
AM_LDFLAGS = $(BOOST_LDFLAGS)
# link to serialization library for test
if ENABLE_SERIALIZATION
AM_LDFLAGS += -lboost_serialization
endif
LDADD = ../libgtsam.la ../CppUnitLite/libCppUnitLite.a
AM_DEFAULT_SOURCE_EXT = .cpp

223
tests/testSerialization.cpp Normal file
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@ -0,0 +1,223 @@
/*
* @brief Unit tests for serialization of library classes
* @author Frank Dellaert
* @author Alex Cunningham
*/
/* ************************************************************************* */
// Serialization testing code.
/* ************************************************************************* */
#include <fstream>
#include <sstream>
#include <string>
// includes for standard serialization types
//#include <boost/serialization/vector.hpp>
//#include <boost/serialization/map.hpp>
//#include <boost/serialization/list.hpp>
#include <boost/archive/text_oarchive.hpp>
#include <boost/archive/text_iarchive.hpp>
#include <boost/archive/xml_iarchive.hpp>
#include <boost/archive/xml_oarchive.hpp>
// whether to print the serialized text to stdout
const bool verbose = false;
// Templated round-trip serialization
template<class T>
void roundtrip(const T& input, T& output) {
// Serialize
std::ostringstream out_archive_stream;
boost::archive::text_oarchive out_archive(out_archive_stream);
out_archive << input;
// Convert to string
std::string serialized = out_archive_stream.str();
if (verbose) std::cout << serialized << std::endl << std::endl;
// De-serialize
std::istringstream in_archive_stream(serialized);
boost::archive::text_iarchive in_archive(in_archive_stream);
in_archive >> output;
}
// This version requires equality operator
template<class T>
bool equality() {
T input;
T output;
roundtrip<T>(input,output);
return input==output;
}
template<class T>
bool equality(const T& input) {
T output;
roundtrip<T>(input,output);
return input==output;
}
// This version requires equals
template<class T>
bool equalsEmpty() {
T input;
T output;
roundtrip<T>(input,output);
return input.equals(output);
}
template<class T>
bool equalsObj(const T& input) {
T output;
roundtrip<T>(input,output);
return input.equals(output);
}
// De-referenced version for pointers
template<class T>
bool equalsDereferenced(const T& input) {
T output;
roundtrip<T>(input,output);
return input->equals(*output);
}
/* ************************************************************************* */
// Templated round-trip serialization using XML
template<class T>
void roundtripXML(const T& input, T& output) {
// Serialize
std::ostringstream out_archive_stream;
boost::archive::xml_oarchive out_archive(out_archive_stream);
out_archive << BOOST_SERIALIZATION_NVP(input);
// Convert to string
std::string serialized = out_archive_stream.str();
if (verbose) std::cout << serialized << std::endl << std::endl;
// De-serialize
std::istringstream in_archive_stream(serialized);
boost::archive::xml_iarchive in_archive(in_archive_stream);
in_archive >> BOOST_SERIALIZATION_NVP(output);
}
// This version requires equality operator
template<class T>
bool equalityXML() {
T input;
T output;
roundtripXML<T>(input,output);
return input==output;
}
template<class T>
bool equalityXML(const T& input) {
T output;
roundtripXML<T>(input,output);
return input==output;
}
// This version requires equals
template<class T>
bool equalsXML() {
T input;
T output;
roundtripXML<T>(input,output);
return input.equals(output);
}
template<class T>
bool equalsXML(const T& input) {
T output;
roundtripXML<T>(input,output);
return input.equals(output);
}
/* ************************************************************************* */
// Actual Tests
/* ************************************************************************* */
#include <gtsam/geometry/Point2.h>
//#include <gtsam/geometry/Pose2.h>
//#include <gtsam/geometry/Rot2.h>
//#include <gtsam/geometry/Point3.h>
//#include <gtsam/geometry/Pose3.h>
//#include <gtsam/geometry/Rot3.h>
//#include <gtsam/geometry/Cal3_S2.h>
//#include <gtsam/linear/VectorConfig.h>
//#include <gtsam/inference/FactorGraph-inl.h>
//#include <gtsam/linear/GaussianConditional.h>
//#include <gtsam/inference/SymbolicConditional.h>
#include <gtsam/CppUnitLite/TestHarness.h>
using namespace std;
using namespace gtsam;
/* ************************************************************************* */
//TEST( Point2, equalsEmpty) { CHECK(equalsEmpty<gtsam::Point2>());}
//TEST( VectorConfig, equalsEmpty) { CHECK(equalsEmpty<VectorConfig>());}
//TEST( GaussianConditional, equalsEmpty) { CHECK(equalsEmpty<GaussianConditional>());}
/* ************************************************************************* */
// Testing XML
/* ************************************************************************* */
//TEST( Point2, equalsXML) { CHECK(equalsXML<gtsam::Point2>());}
//TEST( VectorConfig, equalsXML) { CHECK(equalsXML<VectorConfig>());}
//TEST( Cal3_S2, equalsXML) { CHECK(equalsXML<Cal3_S2>());}
//TEST( GaussianConditional, equalsXML) { CHECK(equalsXML<GaussianConditional>());}
//TEST( SymbolicConditional, equalsXML) { CHECK(equalsXML<SymbolicConditional>());}
// The two tests below will not run, however, as CameraMarkerFactor
// is not registered by the serialization code in FactorGraph
//TEST( FactorGraph, equals1)
//{
// FactorGraph<NonlinearFactor> graph;
// graph.push_back(f);
// CHECK(equalsObj(graph));
//}
//TEST( NonlinearFactorGraph, equals)
//{
// NonlinearFactorGraph graph;
// graph.push_back(f);
// CHECK(equalsObj(graph));
//}
// It *does* work if we explicitly instantiate with the factor type
//TEST( FactorGraph, equals2)
//{
// FactorGraph<CameraMarkerFactor> graph;
// graph.push_back(f);
// CHECK(equalsObj(graph));
//}
// And, as we explicitly registered the three CameraMarkerFactor types in
// the EasySLAMGraph serialize, this will also work :-))
// see http://www.boost.org/doc/libs/1_35_0/libs/serialization/doc/serialization.html#derivedpointers
//TEST( EasySLAMGraph, equals2)
//{
// EasySLAMGraph graph = createExampleGraph();
// CHECK(equalsObj(graph));
//}
//
//// EasySLAMConfig is no problem either:
//TEST( EasySLAMConfig, equals2)
//{
// EasySLAMConfig c = createExampleConfig();
// CHECK(equalsObj(c));
//}
/* ************************************************************************* */
int main() {
TestResult tr;
return TestRegistry::runAllTests(tr);
}
/* ************************************************************************* */