From a5b6968cbf7f690a30c07b918ff3d2cfaff7d1c9 Mon Sep 17 00:00:00 2001 From: kartik arcot Date: Wed, 18 Jan 2023 11:53:38 -0800 Subject: [PATCH] serialization function comment moved --- CMakeLists.txt | 8 ++++++++ gtsam/base/ConcurrentMap.h | 2 +- gtsam/base/FastList.h | 2 +- gtsam/base/FastMap.h | 2 +- gtsam/base/FastSet.h | 2 +- gtsam/base/GenericValue.h | 2 +- gtsam/base/SymmetricBlockMatrix.h | 2 +- gtsam/base/VerticalBlockMatrix.h | 2 +- gtsam/discrete/DecisionTree-inl.h | 2 +- gtsam/discrete/DecisionTree.h | 2 +- gtsam/discrete/DecisionTreeFactor.h | 2 +- gtsam/discrete/DiscreteBayesNet.h | 2 +- gtsam/discrete/DiscreteConditional.h | 2 +- gtsam/discrete/DiscreteKey.h | 2 +- gtsam/discrete/DiscreteLookupDAG.h | 2 +- gtsam/geometry/BearingRange.h | 2 +- gtsam/geometry/Cal3.h | 2 +- gtsam/geometry/Cal3DS2.h | 2 +- gtsam/geometry/Cal3DS2_Base.h | 2 +- gtsam/geometry/Cal3Fisheye.h | 2 +- gtsam/geometry/Cal3Unified.h | 2 +- gtsam/geometry/Cal3_S2.h | 2 +- gtsam/geometry/Cal3_S2Stereo.h | 2 +- gtsam/geometry/CalibratedCamera.h | 2 +- gtsam/geometry/CameraSet.h | 2 +- gtsam/geometry/EssentialMatrix.h | 2 +- gtsam/geometry/PinholeCamera.h | 2 +- gtsam/geometry/PinholePose.h | 2 +- gtsam/geometry/PinholeSet.h | 2 +- gtsam/geometry/Pose2.h | 2 +- gtsam/geometry/Pose3.h | 2 +- gtsam/geometry/Rot2.h | 2 +- gtsam/geometry/Rot3.h | 2 +- gtsam/geometry/SO3.h | 2 +- gtsam/geometry/SO4.h | 2 +- gtsam/geometry/SOn.h | 2 +- gtsam/geometry/SphericalCamera.h | 2 +- gtsam/geometry/StereoPoint2.h | 2 +- gtsam/geometry/Unit3.h | 2 +- gtsam/geometry/triangulation.h | 2 +- gtsam/hybrid/GaussianMixture.h | 2 +- gtsam/hybrid/HybridBayesNet.h | 2 +- gtsam/hybrid/HybridBayesTree.h | 2 +- gtsam/hybrid/HybridConditional.h | 2 +- gtsam/hybrid/HybridFactor.h | 2 +- gtsam/inference/BayesTree.h | 2 +- gtsam/inference/BayesTreeCliqueBase.h | 2 +- gtsam/inference/Conditional.h | 2 +- gtsam/inference/Factor.h | 4 +--- gtsam/inference/FactorGraph.h | 2 +- gtsam/inference/LabeledSymbol.h | 2 +- gtsam/inference/Ordering.h | 2 +- gtsam/inference/Symbol.h | 2 +- gtsam/inference/VariableIndex.h | 2 +- gtsam/linear/GaussianBayesNet.h | 2 +- gtsam/linear/GaussianConditional.h | 2 +- gtsam/linear/GaussianFactor.h | 2 +- gtsam/linear/GaussianFactorGraph.h | 2 +- gtsam/linear/HessianFactor.h | 2 +- gtsam/linear/JacobianFactor.h | 2 +- gtsam/linear/LossFunctions.h | 2 +- gtsam/linear/NoiseModel.h | 2 +- gtsam/linear/VectorValues.h | 2 +- gtsam/navigation/AHRSFactor.h | 2 +- gtsam/navigation/AttitudeFactor.h | 2 +- gtsam/navigation/BarometricFactor.h | 2 +- gtsam/navigation/CombinedImuFactor.h | 2 +- gtsam/navigation/GPSFactor.h | 2 +- gtsam/navigation/ImuBias.h | 2 +- gtsam/navigation/ImuFactor.h | 2 +- gtsam/navigation/MagPoseFactor.h | 2 +- gtsam/navigation/ManifoldPreintegration.h | 2 +- gtsam/navigation/PreintegratedRotation.h | 2 +- gtsam/navigation/PreintegrationBase.h | 2 +- gtsam/navigation/PreintegrationParams.h | 2 +- gtsam/navigation/TangentPreintegration.h | 2 +- gtsam/nonlinear/CustomFactor.h | 2 +- gtsam/nonlinear/FunctorizedFactor.h | 2 +- gtsam/nonlinear/ISAM2.h | 2 +- gtsam/nonlinear/ISAM2Clique.h | 2 +- gtsam/nonlinear/LinearContainerFactor.h | 2 +- gtsam/nonlinear/NonlinearEquality.h | 2 +- gtsam/nonlinear/NonlinearFactor.h | 2 +- gtsam/nonlinear/NonlinearFactorGraph.h | 2 +- gtsam/nonlinear/PriorFactor.h | 2 +- gtsam/nonlinear/Values.h | 2 +- gtsam/sam/RangeFactor.h | 2 +- gtsam/sfm/SfmData.h | 2 +- gtsam/sfm/SfmTrack.h | 2 +- gtsam/slam/AntiFactor.h | 2 +- gtsam/slam/BetweenFactor.h | 2 +- gtsam/slam/BoundingConstraint.h | 2 +- gtsam/slam/EssentialMatrixConstraint.h | 2 +- gtsam/slam/GeneralSFMFactor.h | 2 +- gtsam/slam/PoseRotationPrior.h | 2 +- gtsam/slam/PoseTranslationPrior.h | 2 +- gtsam/slam/ProjectionFactor.h | 2 +- gtsam/slam/ReferenceFrameFactor.h | 2 +- gtsam/slam/SmartFactorBase.h | 2 +- gtsam/slam/SmartFactorParams.h | 2 +- gtsam/slam/SmartProjectionFactor.h | 2 +- gtsam/slam/SmartProjectionPoseFactor.h | 2 +- gtsam/slam/SmartProjectionRigFactor.h | 2 +- gtsam/slam/StereoFactor.h | 2 +- gtsam/slam/TriangulationFactor.h | 2 +- gtsam/symbolic/SymbolicBayesNet.h | 2 +- gtsam/symbolic/SymbolicBayesTree.h | 2 +- gtsam/symbolic/SymbolicConditional.h | 2 +- gtsam/symbolic/SymbolicFactor.h | 2 +- gtsam/symbolic/SymbolicFactorGraph.h | 2 +- 110 files changed, 117 insertions(+), 111 deletions(-) diff --git a/CMakeLists.txt b/CMakeLists.txt index 52b34101f..eb79600e1 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -48,6 +48,14 @@ if(${GTSAM_SOURCE_DIR} STREQUAL ${GTSAM_BINARY_DIR}) message(FATAL_ERROR "In-source builds not allowed. Please make a new directory (called a build directory) and run CMake from there. You may need to remove CMakeCache.txt. ") endif() +# TODO(kartikarcot): Determine a proper home for this option +# a flag to enable or disable serialization with GTSAM_ENABLE_BOOST_SERIALIZATION +option(GTSAM_ENABLE_BOOST_SERIALIZATION "Enable Boost serialization" ON) +# set a compiler flag to enable or disable serialization with GTSAM_DISABLE_BOOST_SERIALIZATION +if(GTSAM_ENABLE_BOOST_SERIALIZATION) + add_definitions(-DGTSAM_ENABLE_BOOST_SERIALIZATION) +endif() + include(cmake/HandleGeneralOptions.cmake) # CMake build options # Libraries: diff --git a/gtsam/base/ConcurrentMap.h b/gtsam/base/ConcurrentMap.h index 196636c4e..5d35cacec 100644 --- a/gtsam/base/ConcurrentMap.h +++ b/gtsam/base/ConcurrentMap.h @@ -100,8 +100,8 @@ public: #endif private: - /** Serialization function */ #ifdef GTSAM_ENABLE_BOOST_SERIALIZATION + /** Serialization function */ friend class boost::serialization::access; template void save(Archive& ar, const unsigned int /*version*/) const diff --git a/gtsam/base/FastList.h b/gtsam/base/FastList.h index d6549ce2e..f7fd38986 100644 --- a/gtsam/base/FastList.h +++ b/gtsam/base/FastList.h @@ -76,8 +76,8 @@ public: } private: - /** Serialization function */ #ifdef GTSAM_ENABLE_BOOST_SERIALIZATION + /** Serialization function */ friend class boost::serialization::access; template void serialize(ARCHIVE & ar, const unsigned int /*version*/) { diff --git a/gtsam/base/FastMap.h b/gtsam/base/FastMap.h index 4aadb6577..3b764c34c 100644 --- a/gtsam/base/FastMap.h +++ b/gtsam/base/FastMap.h @@ -67,8 +67,8 @@ public: bool exists(const KEY& e) const { return this->find(e) != this->end(); } private: - /** Serialization function */ #ifdef GTSAM_ENABLE_BOOST_SERIALIZATION + /** Serialization function */ friend class boost::serialization::access; template void serialize(ARCHIVE & ar, const unsigned int /*version*/) { diff --git a/gtsam/base/FastSet.h b/gtsam/base/FastSet.h index b1c95ad84..f60e69a23 100644 --- a/gtsam/base/FastSet.h +++ b/gtsam/base/FastSet.h @@ -121,8 +121,8 @@ public: } private: - /** Serialization function */ #ifdef GTSAM_ENABLE_BOOST_SERIALIZATION + /** Serialization function */ friend class boost::serialization::access; template void serialize(ARCHIVE & ar, const unsigned int /*version*/) { diff --git a/gtsam/base/GenericValue.h b/gtsam/base/GenericValue.h index 537cf3a54..bbf0f57ad 100644 --- a/gtsam/base/GenericValue.h +++ b/gtsam/base/GenericValue.h @@ -175,8 +175,8 @@ public: private: - /** Serialization function */ #ifdef GTSAM_ENABLE_BOOST_SERIALIZATION + /** Serialization function */ friend class boost::serialization::access; template void serialize(ARCHIVE & ar, const unsigned int /*version*/) { diff --git a/gtsam/base/SymmetricBlockMatrix.h b/gtsam/base/SymmetricBlockMatrix.h index f245db163..ccf726853 100644 --- a/gtsam/base/SymmetricBlockMatrix.h +++ b/gtsam/base/SymmetricBlockMatrix.h @@ -398,8 +398,8 @@ namespace gtsam { template friend class SymmetricBlockMatrixBlockExpr; private: - /** Serialization function */ #ifdef GTSAM_ENABLE_BOOST_SERIALIZATION + /** Serialization function */ friend class boost::serialization::access; template void serialize(ARCHIVE & ar, const unsigned int /*version*/) { diff --git a/gtsam/base/VerticalBlockMatrix.h b/gtsam/base/VerticalBlockMatrix.h index 459d2902c..777441300 100644 --- a/gtsam/base/VerticalBlockMatrix.h +++ b/gtsam/base/VerticalBlockMatrix.h @@ -219,8 +219,8 @@ namespace gtsam { friend class SymmetricBlockMatrix; private: - /** Serialization function */ #ifdef GTSAM_ENABLE_BOOST_SERIALIZATION + /** Serialization function */ friend class boost::serialization::access; template void serialize(ARCHIVE & ar, const unsigned int /*version*/) { diff --git a/gtsam/discrete/DecisionTree-inl.h b/gtsam/discrete/DecisionTree-inl.h index eb50197a6..4d68bc525 100644 --- a/gtsam/discrete/DecisionTree-inl.h +++ b/gtsam/discrete/DecisionTree-inl.h @@ -154,8 +154,8 @@ namespace gtsam { private: using Base = DecisionTree::Node; - /** Serialization function */ #ifdef GTSAM_ENABLE_BOOST_SERIALIZATION + /** Serialization function */ friend class boost::serialization::access; template void serialize(ARCHIVE& ar, const unsigned int /*version*/) { diff --git a/gtsam/discrete/DecisionTree.h b/gtsam/discrete/DecisionTree.h index f4b64f36f..4d70c3d93 100644 --- a/gtsam/discrete/DecisionTree.h +++ b/gtsam/discrete/DecisionTree.h @@ -117,8 +117,8 @@ namespace gtsam { virtual bool isLeaf() const = 0; private: - /** Serialization function */ #ifdef GTSAM_ENABLE_BOOST_SERIALIZATION + /** Serialization function */ friend class boost::serialization::access; template void serialize(ARCHIVE& ar, const unsigned int /*version*/) {} diff --git a/gtsam/discrete/DecisionTreeFactor.h b/gtsam/discrete/DecisionTreeFactor.h index 61a14e13f..74899b729 100644 --- a/gtsam/discrete/DecisionTreeFactor.h +++ b/gtsam/discrete/DecisionTreeFactor.h @@ -253,8 +253,8 @@ namespace gtsam { /// @} private: - /** Serialization function */ #ifdef GTSAM_ENABLE_BOOST_SERIALIZATION + /** Serialization function */ friend class boost::serialization::access; template void serialize(ARCHIVE& ar, const unsigned int /*version*/) { diff --git a/gtsam/discrete/DiscreteBayesNet.h b/gtsam/discrete/DiscreteBayesNet.h index 226550b13..9005f975f 100644 --- a/gtsam/discrete/DiscreteBayesNet.h +++ b/gtsam/discrete/DiscreteBayesNet.h @@ -150,8 +150,8 @@ class GTSAM_EXPORT DiscreteBayesNet: public BayesNet { /// @} private: - /** Serialization function */ #ifdef GTSAM_ENABLE_BOOST_SERIALIZATION + /** Serialization function */ friend class boost::serialization::access; template void serialize(ARCHIVE & ar, const unsigned int /*version*/) { diff --git a/gtsam/discrete/DiscreteConditional.h b/gtsam/discrete/DiscreteConditional.h index 8af7cbcf2..183cf8561 100644 --- a/gtsam/discrete/DiscreteConditional.h +++ b/gtsam/discrete/DiscreteConditional.h @@ -268,8 +268,8 @@ class GTSAM_EXPORT DiscreteConditional bool forceComplete) const; private: - /** Serialization function */ #ifdef GTSAM_ENABLE_BOOST_SERIALIZATION + /** Serialization function */ friend class boost::serialization::access; template void serialize(Archive& ar, const unsigned int /*version*/) { diff --git a/gtsam/discrete/DiscreteKey.h b/gtsam/discrete/DiscreteKey.h index 6f1768e17..c224b74db 100644 --- a/gtsam/discrete/DiscreteKey.h +++ b/gtsam/discrete/DiscreteKey.h @@ -79,8 +79,8 @@ namespace gtsam { /// Check equality to another DiscreteKeys object. bool equals(const DiscreteKeys& other, double tol = 0) const; - /** Serialization function */ #ifdef GTSAM_ENABLE_BOOST_SERIALIZATION + /** Serialization function */ friend class boost::serialization::access; template void serialize(ARCHIVE& ar, const unsigned int /*version*/) { diff --git a/gtsam/discrete/DiscreteLookupDAG.h b/gtsam/discrete/DiscreteLookupDAG.h index 8d72d221d..d3fd65ebe 100644 --- a/gtsam/discrete/DiscreteLookupDAG.h +++ b/gtsam/discrete/DiscreteLookupDAG.h @@ -126,8 +126,8 @@ class GTSAM_EXPORT DiscreteLookupDAG : public BayesNet { /// @} private: - /** Serialization function */ #ifdef GTSAM_ENABLE_BOOST_SERIALIZATION + /** Serialization function */ friend class boost::serialization::access; template void serialize(ARCHIVE& ar, const unsigned int /*version*/) { diff --git a/gtsam/geometry/BearingRange.h b/gtsam/geometry/BearingRange.h index 0175af5b0..0c7d4a577 100644 --- a/gtsam/geometry/BearingRange.h +++ b/gtsam/geometry/BearingRange.h @@ -147,8 +147,8 @@ public: /// @{ private: - /// Serialization function template + /// Serialization function void serialize(ARCHIVE& ar, const unsigned int /*version*/) { ar& boost::serialization::make_nvp("bearing", bearing_); ar& boost::serialization::make_nvp("range", range_); diff --git a/gtsam/geometry/Cal3.h b/gtsam/geometry/Cal3.h index 3c5989b9f..1b66eb336 100644 --- a/gtsam/geometry/Cal3.h +++ b/gtsam/geometry/Cal3.h @@ -184,8 +184,8 @@ class GTSAM_EXPORT Cal3 { /// @{ private: - /// Serialization function #ifdef GTSAM_ENABLE_BOOST_SERIALIZATION /// + /// Serialization function friend class boost::serialization::access; template void serialize(Archive& ar, const unsigned int /*version*/) { diff --git a/gtsam/geometry/Cal3DS2.h b/gtsam/geometry/Cal3DS2.h index e989e661c..a7ca08afc 100644 --- a/gtsam/geometry/Cal3DS2.h +++ b/gtsam/geometry/Cal3DS2.h @@ -104,8 +104,8 @@ class GTSAM_EXPORT Cal3DS2 : public Cal3DS2_Base { /// @name Advanced Interface /// @{ - /** Serialization function */ #ifdef GTSAM_ENABLE_BOOST_SERIALIZATION + /** Serialization function */ friend class boost::serialization::access; template void serialize(Archive& ar, const unsigned int /*version*/) { diff --git a/gtsam/geometry/Cal3DS2_Base.h b/gtsam/geometry/Cal3DS2_Base.h index 539813cb0..b0ef0368b 100644 --- a/gtsam/geometry/Cal3DS2_Base.h +++ b/gtsam/geometry/Cal3DS2_Base.h @@ -156,8 +156,8 @@ class GTSAM_EXPORT Cal3DS2_Base : public Cal3 { /// @name Advanced Interface /// @{ - /** Serialization function */ #ifdef GTSAM_ENABLE_BOOST_SERIALIZATION + /** Serialization function */ friend class boost::serialization::access; template void serialize(Archive& ar, const unsigned int /*version*/) { diff --git a/gtsam/geometry/Cal3Fisheye.h b/gtsam/geometry/Cal3Fisheye.h index 775c6b46e..3f1cac148 100644 --- a/gtsam/geometry/Cal3Fisheye.h +++ b/gtsam/geometry/Cal3Fisheye.h @@ -184,8 +184,8 @@ class GTSAM_EXPORT Cal3Fisheye : public Cal3 { /// @name Advanced Interface /// @{ - /** Serialization function */ #ifdef GTSAM_ENABLE_BOOST_SERIALIZATION + /** Serialization function */ friend class boost::serialization::access; template void serialize(Archive& ar, const unsigned int /*version*/) { diff --git a/gtsam/geometry/Cal3Unified.h b/gtsam/geometry/Cal3Unified.h index 74ad72fb2..309b6dca1 100644 --- a/gtsam/geometry/Cal3Unified.h +++ b/gtsam/geometry/Cal3Unified.h @@ -138,8 +138,8 @@ class GTSAM_EXPORT Cal3Unified : public Cal3DS2_Base { /// @} private: - /** Serialization function */ #ifdef GTSAM_ENABLE_BOOST_SERIALIZATION + /** Serialization function */ friend class boost::serialization::access; template void serialize(Archive& ar, const unsigned int /*version*/) { diff --git a/gtsam/geometry/Cal3_S2.h b/gtsam/geometry/Cal3_S2.h index 1b39e76e3..885be614f 100644 --- a/gtsam/geometry/Cal3_S2.h +++ b/gtsam/geometry/Cal3_S2.h @@ -132,8 +132,8 @@ class GTSAM_EXPORT Cal3_S2 : public Cal3 { /// @{ private: - /// Serialization function #ifdef GTSAM_ENABLE_BOOST_SERIALIZATION /// + /// Serialization function friend class boost::serialization::access; template void serialize(Archive& ar, const unsigned int /*version*/) { diff --git a/gtsam/geometry/Cal3_S2Stereo.h b/gtsam/geometry/Cal3_S2Stereo.h index fcc6b68ee..4fee1a022 100644 --- a/gtsam/geometry/Cal3_S2Stereo.h +++ b/gtsam/geometry/Cal3_S2Stereo.h @@ -143,8 +143,8 @@ class GTSAM_EXPORT Cal3_S2Stereo : public Cal3_S2 { /// @{ private: - /** Serialization function */ #ifdef GTSAM_ENABLE_BOOST_SERIALIZATION + /** Serialization function */ friend class boost::serialization::access; template void serialize(Archive& ar, const unsigned int /*version*/) { diff --git a/gtsam/geometry/CalibratedCamera.h b/gtsam/geometry/CalibratedCamera.h index 0aef92352..c2683596e 100644 --- a/gtsam/geometry/CalibratedCamera.h +++ b/gtsam/geometry/CalibratedCamera.h @@ -228,8 +228,8 @@ public: private: - /** Serialization function */ #ifdef GTSAM_ENABLE_BOOST_SERIALIZATION + /** Serialization function */ friend class boost::serialization::access; template void serialize(Archive & ar, const unsigned int /*version*/) { diff --git a/gtsam/geometry/CameraSet.h b/gtsam/geometry/CameraSet.h index f5b887ae9..1db86cfde 100644 --- a/gtsam/geometry/CameraSet.h +++ b/gtsam/geometry/CameraSet.h @@ -465,8 +465,8 @@ class CameraSet : public std::vector> { } private: - /// Serialization function #ifdef GTSAM_ENABLE_BOOST_SERIALIZATION /// + /// Serialization function friend class boost::serialization::access; template void serialize(ARCHIVE& ar, const unsigned int /*version*/) { diff --git a/gtsam/geometry/EssentialMatrix.h b/gtsam/geometry/EssentialMatrix.h index 7b8268d4d..d514c4f19 100644 --- a/gtsam/geometry/EssentialMatrix.h +++ b/gtsam/geometry/EssentialMatrix.h @@ -180,8 +180,8 @@ class EssentialMatrix { /// @name Advanced Interface /// @{ - /** Serialization function */ #ifdef GTSAM_ENABLE_BOOST_SERIALIZATION + /** Serialization function */ friend class boost::serialization::access; template void serialize(ARCHIVE & ar, const unsigned int /*version*/) { diff --git a/gtsam/geometry/PinholeCamera.h b/gtsam/geometry/PinholeCamera.h index a77f5f220..23b595c84 100644 --- a/gtsam/geometry/PinholeCamera.h +++ b/gtsam/geometry/PinholeCamera.h @@ -326,8 +326,8 @@ public: private: - /** Serialization function */ #ifdef GTSAM_ENABLE_BOOST_SERIALIZATION + /** Serialization function */ friend class boost::serialization::access; template void serialize(Archive & ar, const unsigned int /*version*/) { diff --git a/gtsam/geometry/PinholePose.h b/gtsam/geometry/PinholePose.h index 490ef63a9..96c691242 100644 --- a/gtsam/geometry/PinholePose.h +++ b/gtsam/geometry/PinholePose.h @@ -217,8 +217,8 @@ public: private: - /** Serialization function */ #ifdef GTSAM_ENABLE_BOOST_SERIALIZATION + /** Serialization function */ friend class boost::serialization::access; template void serialize(Archive & ar, const unsigned int /*version*/) { diff --git a/gtsam/geometry/PinholeSet.h b/gtsam/geometry/PinholeSet.h index 15d0ce473..55269f9d6 100644 --- a/gtsam/geometry/PinholeSet.h +++ b/gtsam/geometry/PinholeSet.h @@ -64,8 +64,8 @@ public: private: - /// Serialization function #ifdef GTSAM_ENABLE_BOOST_SERIALIZATION /// + /// Serialization function friend class boost::serialization::access; template void serialize(ARCHIVE & ar, const unsigned int version) { diff --git a/gtsam/geometry/Pose2.h b/gtsam/geometry/Pose2.h index d92ce91d8..e3ff1416c 100644 --- a/gtsam/geometry/Pose2.h +++ b/gtsam/geometry/Pose2.h @@ -326,8 +326,8 @@ public: private: - // Serialization function #ifdef GTSAM_ENABLE_BOOST_SERIALIZATION // + // Serialization function friend class boost::serialization::access; template void serialize(Archive & ar, const unsigned int /*version*/) { diff --git a/gtsam/geometry/Pose3.h b/gtsam/geometry/Pose3.h index 42b9a8e57..3f0d3e0e0 100644 --- a/gtsam/geometry/Pose3.h +++ b/gtsam/geometry/Pose3.h @@ -392,8 +392,8 @@ public: friend std::ostream &operator<<(std::ostream &os, const Pose3& p); private: - /** Serialization function */ #ifdef GTSAM_ENABLE_BOOST_SERIALIZATION + /** Serialization function */ friend class boost::serialization::access; template void serialize(Archive & ar, const unsigned int /*version*/) { diff --git a/gtsam/geometry/Rot2.h b/gtsam/geometry/Rot2.h index 91c6d5d53..63b914434 100644 --- a/gtsam/geometry/Rot2.h +++ b/gtsam/geometry/Rot2.h @@ -213,8 +213,8 @@ namespace gtsam { static Rot2 ClosestTo(const Matrix2& M); private: - /** Serialization function */ #ifdef GTSAM_ENABLE_BOOST_SERIALIZATION + /** Serialization function */ friend class boost::serialization::access; template void serialize(ARCHIVE & ar, const unsigned int /*version*/) { diff --git a/gtsam/geometry/Rot3.h b/gtsam/geometry/Rot3.h index fd110fe85..0b3798baa 100644 --- a/gtsam/geometry/Rot3.h +++ b/gtsam/geometry/Rot3.h @@ -528,8 +528,8 @@ class GTSAM_EXPORT Rot3 : public LieGroup { /// @} private: - /** Serialization function */ #ifdef GTSAM_ENABLE_BOOST_SERIALIZATION + /** Serialization function */ friend class boost::serialization::access; template void serialize(ARCHIVE& ar, const unsigned int /*version*/) { diff --git a/gtsam/geometry/SO3.h b/gtsam/geometry/SO3.h index 6f78bed4e..421619d19 100644 --- a/gtsam/geometry/SO3.h +++ b/gtsam/geometry/SO3.h @@ -99,8 +99,8 @@ template <> GTSAM_EXPORT Vector9 SO3::vec(OptionalJacobian<9, 3> H) const; -/** Serialization function */ template +/** Serialization function */ void serialize(Archive& ar, SO3& R, const unsigned int /*version*/) { Matrix3& M = R.matrix_; ar& boost::serialization::make_nvp("R11", M(0, 0)); diff --git a/gtsam/geometry/SO4.h b/gtsam/geometry/SO4.h index 529935006..f1c6815cc 100644 --- a/gtsam/geometry/SO4.h +++ b/gtsam/geometry/SO4.h @@ -78,8 +78,8 @@ GTSAM_EXPORT Matrix3 topLeft(const SO4 &Q, OptionalJacobian<9, 6> H = {}); */ GTSAM_EXPORT Matrix43 stiefel(const SO4 &Q, OptionalJacobian<12, 6> H = {}); -/** Serialization function */ template +/** Serialization function */ void serialize(Archive &ar, SO4 &Q, const unsigned int /*version*/) { Matrix4 &M = Q.matrix_; ar &boost::serialization::make_nvp("Q11", M(0, 0)); diff --git a/gtsam/geometry/SOn.h b/gtsam/geometry/SOn.h index 069aae833..7a0babbcb 100644 --- a/gtsam/geometry/SOn.h +++ b/gtsam/geometry/SOn.h @@ -377,8 +377,8 @@ template <> GTSAM_EXPORT typename SOn::VectorN2 SOn::vec(DynamicJacobian H) const; -/** Serialization function */ #ifdef GTSAM_ENABLE_BOOST_SERIALIZATION +/** Serialization function */ template void serialize( Archive& ar, SOn& Q, diff --git a/gtsam/geometry/SphericalCamera.h b/gtsam/geometry/SphericalCamera.h index 76c0d86a1..6c17c5962 100644 --- a/gtsam/geometry/SphericalCamera.h +++ b/gtsam/geometry/SphericalCamera.h @@ -52,8 +52,8 @@ class GTSAM_EXPORT EmptyCal { } private: - /// Serialization function #ifdef GTSAM_ENABLE_BOOST_SERIALIZATION /// + /// Serialization function friend class boost::serialization::access; template void serialize(Archive& ar, const unsigned int /*version*/) { diff --git a/gtsam/geometry/StereoPoint2.h b/gtsam/geometry/StereoPoint2.h index ae59c2b9d..a12957f17 100644 --- a/gtsam/geometry/StereoPoint2.h +++ b/gtsam/geometry/StereoPoint2.h @@ -146,8 +146,8 @@ private: /// @name Advanced Interface /// @{ - /** Serialization function */ #ifdef GTSAM_ENABLE_BOOST_SERIALIZATION + /** Serialization function */ friend class boost::serialization::access; template void serialize(ARCHIVE & ar, const unsigned int /*version*/) { diff --git a/gtsam/geometry/Unit3.h b/gtsam/geometry/Unit3.h index db4f94085..82a85b081 100644 --- a/gtsam/geometry/Unit3.h +++ b/gtsam/geometry/Unit3.h @@ -206,8 +206,8 @@ private: /// @name Advanced Interface /// @{ - /** Serialization function */ #ifdef GTSAM_ENABLE_BOOST_SERIALIZATION + /** Serialization function */ friend class boost::serialization::access; template void serialize(ARCHIVE & ar, const unsigned int /*version*/) { diff --git a/gtsam/geometry/triangulation.h b/gtsam/geometry/triangulation.h index 5ba324b4f..f71ad76da 100644 --- a/gtsam/geometry/triangulation.h +++ b/gtsam/geometry/triangulation.h @@ -611,8 +611,8 @@ struct GTSAM_EXPORT TriangulationParameters { private: - /// Serialization function #ifdef GTSAM_ENABLE_BOOST_SERIALIZATION /// + /// Serialization function friend class boost::serialization::access; template void serialize(ARCHIVE & ar, const unsigned int version) { diff --git a/gtsam/hybrid/GaussianMixture.h b/gtsam/hybrid/GaussianMixture.h index cd65c0829..2d715c6e3 100644 --- a/gtsam/hybrid/GaussianMixture.h +++ b/gtsam/hybrid/GaussianMixture.h @@ -255,8 +255,8 @@ class GTSAM_EXPORT GaussianMixture /// Check whether `given` has values for all frontal keys. bool allFrontalsGiven(const VectorValues &given) const; - /** Serialization function */ #ifdef GTSAM_ENABLE_BOOST_SERIALIZATION + /** Serialization function */ friend class boost::serialization::access; template void serialize(Archive &ar, const unsigned int /*version*/) { diff --git a/gtsam/hybrid/HybridBayesNet.h b/gtsam/hybrid/HybridBayesNet.h index 1233ccec9..2b0042b8d 100644 --- a/gtsam/hybrid/HybridBayesNet.h +++ b/gtsam/hybrid/HybridBayesNet.h @@ -228,8 +228,8 @@ class GTSAM_EXPORT HybridBayesNet : public BayesNet { */ void updateDiscreteConditionals(const DecisionTreeFactor &prunedDecisionTree); - /** Serialization function */ #ifdef GTSAM_ENABLE_BOOST_SERIALIZATION + /** Serialization function */ friend class boost::serialization::access; template void serialize(ARCHIVE &ar, const unsigned int /*version*/) { diff --git a/gtsam/hybrid/HybridBayesTree.h b/gtsam/hybrid/HybridBayesTree.h index 66211d8a0..e0e6db98e 100644 --- a/gtsam/hybrid/HybridBayesTree.h +++ b/gtsam/hybrid/HybridBayesTree.h @@ -114,8 +114,8 @@ class GTSAM_EXPORT HybridBayesTree : public BayesTree { /// @} private: - /** Serialization function */ #ifdef GTSAM_ENABLE_BOOST_SERIALIZATION + /** Serialization function */ friend class boost::serialization::access; template void serialize(ARCHIVE& ar, const unsigned int /*version*/) { diff --git a/gtsam/hybrid/HybridConditional.h b/gtsam/hybrid/HybridConditional.h index 80efd89c6..64bdcb2c1 100644 --- a/gtsam/hybrid/HybridConditional.h +++ b/gtsam/hybrid/HybridConditional.h @@ -204,8 +204,8 @@ class GTSAM_EXPORT HybridConditional /// @} private: - /** Serialization function */ #ifdef GTSAM_ENABLE_BOOST_SERIALIZATION + /** Serialization function */ friend class boost::serialization::access; template void serialize(Archive& ar, const unsigned int /*version*/) { diff --git a/gtsam/hybrid/HybridFactor.h b/gtsam/hybrid/HybridFactor.h index 9e243c4ec..8fa23b1f9 100644 --- a/gtsam/hybrid/HybridFactor.h +++ b/gtsam/hybrid/HybridFactor.h @@ -137,8 +137,8 @@ class GTSAM_EXPORT HybridFactor : public Factor { /// @} private: - /** Serialization function */ #ifdef GTSAM_ENABLE_BOOST_SERIALIZATION + /** Serialization function */ friend class boost::serialization::access; template void serialize(ARCHIVE &ar, const unsigned int /*version*/) { diff --git a/gtsam/inference/BayesTree.h b/gtsam/inference/BayesTree.h index b09e90223..85bc710b1 100644 --- a/gtsam/inference/BayesTree.h +++ b/gtsam/inference/BayesTree.h @@ -259,8 +259,8 @@ namespace gtsam { template friend class EliminatableClusterTree; private: - /** Serialization function */ #ifdef GTSAM_ENABLE_BOOST_SERIALIZATION + /** Serialization function */ friend class boost::serialization::access; template void serialize(ARCHIVE & ar, const unsigned int /*version*/) { diff --git a/gtsam/inference/BayesTreeCliqueBase.h b/gtsam/inference/BayesTreeCliqueBase.h index 2ceb0577e..976d1a7f2 100644 --- a/gtsam/inference/BayesTreeCliqueBase.h +++ b/gtsam/inference/BayesTreeCliqueBase.h @@ -199,8 +199,8 @@ namespace gtsam { private: - /** Serialization function */ #ifdef GTSAM_ENABLE_BOOST_SERIALIZATION + /** Serialization function */ friend class boost::serialization::access; template void serialize(ARCHIVE & ar, const unsigned int /*version*/) { diff --git a/gtsam/inference/Conditional.h b/gtsam/inference/Conditional.h index 2e75eceff..9f08e5623 100644 --- a/gtsam/inference/Conditional.h +++ b/gtsam/inference/Conditional.h @@ -213,8 +213,8 @@ namespace gtsam { // Cast to derived type (const) (casts down to derived conditional type, then up to factor type) const FACTOR& asFactor() const { return static_cast(static_cast(*this)); } - /** Serialization function */ #ifdef GTSAM_ENABLE_BOOST_SERIALIZATION + /** Serialization function */ friend class boost::serialization::access; template void serialize(ARCHIVE & ar, const unsigned int /*version*/) { diff --git a/gtsam/inference/Factor.h b/gtsam/inference/Factor.h index af1e0858a..3b8cc94bf 100644 --- a/gtsam/inference/Factor.h +++ b/gtsam/inference/Factor.h @@ -190,12 +190,10 @@ namespace gtsam { /// @} private: - +#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION /// @name Serialization /// @{ - /** Serialization function */ -#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION friend class boost::serialization::access; template void serialize(Archive & ar, const unsigned int /*version*/) { diff --git a/gtsam/inference/FactorGraph.h b/gtsam/inference/FactorGraph.h index 2e3f5567f..43664ac7c 100644 --- a/gtsam/inference/FactorGraph.h +++ b/gtsam/inference/FactorGraph.h @@ -433,8 +433,8 @@ class FactorGraph { inline bool exists(size_t idx) const { return idx < size() && at(idx); } private: - /** Serialization function */ #ifdef GTSAM_ENABLE_BOOST_SERIALIZATION + /** Serialization function */ friend class boost::serialization::access; template void serialize(ARCHIVE& ar, const unsigned int /*version*/) { diff --git a/gtsam/inference/LabeledSymbol.h b/gtsam/inference/LabeledSymbol.h index 2b61842ff..5a7a98c1d 100644 --- a/gtsam/inference/LabeledSymbol.h +++ b/gtsam/inference/LabeledSymbol.h @@ -112,8 +112,8 @@ public: private: - /** Serialization function */ #ifdef GTSAM_ENABLE_BOOST_SERIALIZATION + /** Serialization function */ friend class boost::serialization::access; template void serialize(ARCHIVE & ar, const unsigned int /*version*/) { diff --git a/gtsam/inference/Ordering.h b/gtsam/inference/Ordering.h index 7797a0a8e..ad41aa5bb 100644 --- a/gtsam/inference/Ordering.h +++ b/gtsam/inference/Ordering.h @@ -256,8 +256,8 @@ private: static GTSAM_EXPORT Ordering ColamdConstrained( const VariableIndex& variableIndex, std::vector& cmember); - /** Serialization function */ #ifdef GTSAM_ENABLE_BOOST_SERIALIZATION + /** Serialization function */ friend class boost::serialization::access; template void serialize(ARCHIVE & ar, const unsigned int version) { diff --git a/gtsam/inference/Symbol.h b/gtsam/inference/Symbol.h index 3a61d9951..3238a1949 100644 --- a/gtsam/inference/Symbol.h +++ b/gtsam/inference/Symbol.h @@ -122,8 +122,8 @@ public: private: - /** Serialization function */ #ifdef GTSAM_ENABLE_BOOST_SERIALIZATION + /** Serialization function */ friend class boost::serialization::access; template void serialize(ARCHIVE & ar, const unsigned int /*version*/) { diff --git a/gtsam/inference/VariableIndex.h b/gtsam/inference/VariableIndex.h index bbb7e0443..207ded0ce 100644 --- a/gtsam/inference/VariableIndex.h +++ b/gtsam/inference/VariableIndex.h @@ -190,8 +190,8 @@ protected: } private: - /** Serialization function */ #ifdef GTSAM_ENABLE_BOOST_SERIALIZATION + /** Serialization function */ friend class boost::serialization::access; template void serialize(ARCHIVE & ar, const unsigned int /*version*/) { diff --git a/gtsam/linear/GaussianBayesNet.h b/gtsam/linear/GaussianBayesNet.h index cdf5da241..39528b810 100644 --- a/gtsam/linear/GaussianBayesNet.h +++ b/gtsam/linear/GaussianBayesNet.h @@ -256,8 +256,8 @@ namespace gtsam { /// @} private: - /** Serialization function */ #ifdef GTSAM_ENABLE_BOOST_SERIALIZATION + /** Serialization function */ friend class boost::serialization::access; template void serialize(ARCHIVE & ar, const unsigned int /*version*/) { diff --git a/gtsam/linear/GaussianConditional.h b/gtsam/linear/GaussianConditional.h index 62b47214b..f99006831 100644 --- a/gtsam/linear/GaussianConditional.h +++ b/gtsam/linear/GaussianConditional.h @@ -274,8 +274,8 @@ namespace gtsam { /// @} private: - /** Serialization function */ #ifdef GTSAM_ENABLE_BOOST_SERIALIZATION + /** Serialization function */ friend class boost::serialization::access; template void serialize(Archive & ar, const unsigned int /*version*/) { diff --git a/gtsam/linear/GaussianFactor.h b/gtsam/linear/GaussianFactor.h index a4cb00f35..3304829e2 100644 --- a/gtsam/linear/GaussianFactor.h +++ b/gtsam/linear/GaussianFactor.h @@ -163,8 +163,8 @@ namespace gtsam { } private: - /** Serialization function */ #ifdef GTSAM_ENABLE_BOOST_SERIALIZATION + /** Serialization function */ friend class boost::serialization::access; template void serialize(ARCHIVE & ar, const unsigned int /*version*/) { diff --git a/gtsam/linear/GaussianFactorGraph.h b/gtsam/linear/GaussianFactorGraph.h index f822640c3..d517de77b 100644 --- a/gtsam/linear/GaussianFactorGraph.h +++ b/gtsam/linear/GaussianFactorGraph.h @@ -403,8 +403,8 @@ namespace gtsam { /// @} private: - /** Serialization function */ #ifdef GTSAM_ENABLE_BOOST_SERIALIZATION + /** Serialization function */ friend class boost::serialization::access; template void serialize(ARCHIVE & ar, const unsigned int /*version*/) { diff --git a/gtsam/linear/HessianFactor.h b/gtsam/linear/HessianFactor.h index a18e1b3c1..eb1fe2de2 100644 --- a/gtsam/linear/HessianFactor.h +++ b/gtsam/linear/HessianFactor.h @@ -363,8 +363,8 @@ namespace gtsam { friend class NonlinearFactorGraph; friend class NonlinearClusterTree; - /** Serialization function */ #ifdef GTSAM_ENABLE_BOOST_SERIALIZATION + /** Serialization function */ friend class boost::serialization::access; template void serialize(ARCHIVE & ar, const unsigned int /*version*/) { diff --git a/gtsam/linear/JacobianFactor.h b/gtsam/linear/JacobianFactor.h index 0ca99a070..acfeb45a3 100644 --- a/gtsam/linear/JacobianFactor.h +++ b/gtsam/linear/JacobianFactor.h @@ -413,8 +413,8 @@ namespace gtsam { // be very selective on who can access these private methods: template friend class ExpressionFactor; - /** Serialization function */ #ifdef GTSAM_ENABLE_BOOST_SERIALIZATION + /** Serialization function */ friend class boost::serialization::access; template void save(ARCHIVE & ar, const unsigned int version) const { diff --git a/gtsam/linear/LossFunctions.h b/gtsam/linear/LossFunctions.h index 497fab1ef..d91843206 100644 --- a/gtsam/linear/LossFunctions.h +++ b/gtsam/linear/LossFunctions.h @@ -128,8 +128,8 @@ class GTSAM_EXPORT Base { void reweight(Matrix &A1, Matrix &A2, Matrix &A3, Vector &error) const; private: - /** Serialization function */ #ifdef GTSAM_ENABLE_BOOST_SERIALIZATION + /** Serialization function */ friend class boost::serialization::access; template void serialize(ARCHIVE &ar, const unsigned int /*version*/) { diff --git a/gtsam/linear/NoiseModel.h b/gtsam/linear/NoiseModel.h index 4d0c84941..821d57b01 100644 --- a/gtsam/linear/NoiseModel.h +++ b/gtsam/linear/NoiseModel.h @@ -139,8 +139,8 @@ namespace gtsam { virtual double weight(const Vector& v) const { return 1.0; } private: - /** Serialization function */ #ifdef GTSAM_ENABLE_BOOST_SERIALIZATION + /** Serialization function */ friend class boost::serialization::access; template void serialize(ARCHIVE & ar, const unsigned int /*version*/) { diff --git a/gtsam/linear/VectorValues.h b/gtsam/linear/VectorValues.h index 54afcd1e0..bb5bbc794 100644 --- a/gtsam/linear/VectorValues.h +++ b/gtsam/linear/VectorValues.h @@ -368,8 +368,8 @@ namespace gtsam { /// @} private: - /** Serialization function */ #ifdef GTSAM_ENABLE_BOOST_SERIALIZATION + /** Serialization function */ friend class boost::serialization::access; template void serialize(ARCHIVE & ar, const unsigned int /*version*/) { diff --git a/gtsam/navigation/AHRSFactor.h b/gtsam/navigation/AHRSFactor.h index f3262dd97..d163394bf 100644 --- a/gtsam/navigation/AHRSFactor.h +++ b/gtsam/navigation/AHRSFactor.h @@ -120,8 +120,8 @@ class GTSAM_EXPORT PreintegratedAhrsMeasurements : public PreintegratedRotation private: - /** Serialization function */ #ifdef GTSAM_ENABLE_BOOST_SERIALIZATION + /** Serialization function */ friend class boost::serialization::access; template void serialize(ARCHIVE & ar, const unsigned int /*version*/) { diff --git a/gtsam/navigation/AttitudeFactor.h b/gtsam/navigation/AttitudeFactor.h index 1d12d8831..dfd8b3287 100644 --- a/gtsam/navigation/AttitudeFactor.h +++ b/gtsam/navigation/AttitudeFactor.h @@ -63,8 +63,8 @@ public: return bRef_; } - /** Serialization function */ #ifdef GTSAM_ENABLE_BOOST_SERIALIZATION + /** Serialization function */ friend class boost::serialization::access; template void serialize(ARCHIVE & ar, const unsigned int /*version*/) { diff --git a/gtsam/navigation/BarometricFactor.h b/gtsam/navigation/BarometricFactor.h index af15bccb2..cf1c147bf 100644 --- a/gtsam/navigation/BarometricFactor.h +++ b/gtsam/navigation/BarometricFactor.h @@ -97,8 +97,8 @@ class GTSAM_EXPORT BarometricFactor : public NoiseModelFactorN { }; private: - /// Serialization function #ifdef GTSAM_ENABLE_BOOST_SERIALIZATION /// + /// Serialization function friend class boost::serialization::access; template void serialize(ARCHIVE& ar, const unsigned int /*version*/) { diff --git a/gtsam/navigation/CombinedImuFactor.h b/gtsam/navigation/CombinedImuFactor.h index 5908989d1..25b72034c 100644 --- a/gtsam/navigation/CombinedImuFactor.h +++ b/gtsam/navigation/CombinedImuFactor.h @@ -101,8 +101,8 @@ struct GTSAM_EXPORT PreintegrationCombinedParams : PreintegrationParams { private: - /** Serialization function */ #ifdef GTSAM_ENABLE_BOOST_SERIALIZATION + /** Serialization function */ friend class boost::serialization::access; template void serialize(ARCHIVE& ar, const unsigned int /*version*/) { diff --git a/gtsam/navigation/GPSFactor.h b/gtsam/navigation/GPSFactor.h index 76373a959..518a11358 100644 --- a/gtsam/navigation/GPSFactor.h +++ b/gtsam/navigation/GPSFactor.h @@ -97,8 +97,8 @@ public: private: - /// Serialization function #ifdef GTSAM_ENABLE_BOOST_SERIALIZATION /// + /// Serialization function friend class boost::serialization::access; template void serialize(ARCHIVE & ar, const unsigned int /*version*/) { diff --git a/gtsam/navigation/ImuBias.h b/gtsam/navigation/ImuBias.h index eb5205763..818540aae 100644 --- a/gtsam/navigation/ImuBias.h +++ b/gtsam/navigation/ImuBias.h @@ -140,8 +140,8 @@ private: /// @name Advanced Interface /// @{ - /** Serialization function */ #ifdef GTSAM_ENABLE_BOOST_SERIALIZATION + /** Serialization function */ friend class boost::serialization::access; template void serialize(ARCHIVE & ar, const unsigned int /*version*/) { diff --git a/gtsam/navigation/ImuFactor.h b/gtsam/navigation/ImuFactor.h index 8431c31e9..2c2ca5f80 100644 --- a/gtsam/navigation/ImuFactor.h +++ b/gtsam/navigation/ImuFactor.h @@ -146,8 +146,8 @@ public: #endif private: - /// Serialization function #ifdef GTSAM_ENABLE_BOOST_SERIALIZATION /// + /// Serialization function friend class boost::serialization::access; template void serialize(ARCHIVE & ar, const unsigned int /*version*/) { diff --git a/gtsam/navigation/MagPoseFactor.h b/gtsam/navigation/MagPoseFactor.h index 96ca15ba2..ba9a08d78 100644 --- a/gtsam/navigation/MagPoseFactor.h +++ b/gtsam/navigation/MagPoseFactor.h @@ -132,8 +132,8 @@ class MagPoseFactor: public NoiseModelFactorN { } private: - /// Serialization function. #ifdef GTSAM_ENABLE_BOOST_SERIALIZATION /// + /// Serialization function. friend class boost::serialization::access; template void serialize(ARCHIVE & ar, const unsigned int /*version*/) { diff --git a/gtsam/navigation/ManifoldPreintegration.h b/gtsam/navigation/ManifoldPreintegration.h index 7fb2b06ee..a8c97477b 100644 --- a/gtsam/navigation/ManifoldPreintegration.h +++ b/gtsam/navigation/ManifoldPreintegration.h @@ -113,8 +113,8 @@ public: /// @} private: - /** Serialization function */ #ifdef GTSAM_ENABLE_BOOST_SERIALIZATION + /** Serialization function */ friend class boost::serialization::access; template void serialize(ARCHIVE & ar, const unsigned int /*version*/) { diff --git a/gtsam/navigation/PreintegratedRotation.h b/gtsam/navigation/PreintegratedRotation.h index 84dbc4661..c4b2caa9b 100644 --- a/gtsam/navigation/PreintegratedRotation.h +++ b/gtsam/navigation/PreintegratedRotation.h @@ -60,8 +60,8 @@ struct GTSAM_EXPORT PreintegratedRotationParams { std::optional getBodyPSensor() const { return body_P_sensor; } private: - /** Serialization function */ #ifdef GTSAM_ENABLE_BOOST_SERIALIZATION + /** Serialization function */ friend class boost::serialization::access; template void serialize(ARCHIVE & ar, const unsigned int /*version*/) { diff --git a/gtsam/navigation/PreintegrationBase.h b/gtsam/navigation/PreintegrationBase.h index 8ca085fe7..e4a790b9d 100644 --- a/gtsam/navigation/PreintegrationBase.h +++ b/gtsam/navigation/PreintegrationBase.h @@ -173,8 +173,8 @@ class GTSAM_EXPORT PreintegrationBase { OptionalJacobian<9, 6> H5 = {}) const; private: - /** Serialization function */ #ifdef GTSAM_ENABLE_BOOST_SERIALIZATION + /** Serialization function */ friend class boost::serialization::access; template void serialize(ARCHIVE & ar, const unsigned int /*version*/) { diff --git a/gtsam/navigation/PreintegrationParams.h b/gtsam/navigation/PreintegrationParams.h index 3d60eaf47..4350c7ebd 100644 --- a/gtsam/navigation/PreintegrationParams.h +++ b/gtsam/navigation/PreintegrationParams.h @@ -71,8 +71,8 @@ struct GTSAM_EXPORT PreintegrationParams: PreintegratedRotationParams { protected: - /** Serialization function */ #ifdef GTSAM_ENABLE_BOOST_SERIALIZATION + /** Serialization function */ friend class boost::serialization::access; template void serialize(ARCHIVE & ar, const unsigned int /*version*/) { diff --git a/gtsam/navigation/TangentPreintegration.h b/gtsam/navigation/TangentPreintegration.h index a756dd781..e16ad9310 100644 --- a/gtsam/navigation/TangentPreintegration.h +++ b/gtsam/navigation/TangentPreintegration.h @@ -127,8 +127,8 @@ public: /// @} private: - /** Serialization function */ #ifdef GTSAM_ENABLE_BOOST_SERIALIZATION + /** Serialization function */ friend class boost::serialization::access; template void serialize(ARCHIVE & ar, const unsigned int /*version*/) { diff --git a/gtsam/nonlinear/CustomFactor.h b/gtsam/nonlinear/CustomFactor.h index b6837473a..d486e6f0d 100644 --- a/gtsam/nonlinear/CustomFactor.h +++ b/gtsam/nonlinear/CustomFactor.h @@ -90,8 +90,8 @@ public: private: - /** Serialization function */ #ifdef GTSAM_ENABLE_BOOST_SERIALIZATION + /** Serialization function */ friend class boost::serialization::access; template void serialize(ARCHIVE &ar, const unsigned int /*version*/) { diff --git a/gtsam/nonlinear/FunctorizedFactor.h b/gtsam/nonlinear/FunctorizedFactor.h index 7047a84f2..7c4a0097c 100644 --- a/gtsam/nonlinear/FunctorizedFactor.h +++ b/gtsam/nonlinear/FunctorizedFactor.h @@ -119,8 +119,8 @@ class FunctorizedFactor : public NoiseModelFactorN { /// @} private: - /** Serialization function */ #ifdef GTSAM_ENABLE_BOOST_SERIALIZATION + /** Serialization function */ friend class boost::serialization::access; template void serialize(ARCHIVE &ar, const unsigned int /*version*/) { diff --git a/gtsam/nonlinear/ISAM2.h b/gtsam/nonlinear/ISAM2.h index d13cfbbef..50c5058c2 100644 --- a/gtsam/nonlinear/ISAM2.h +++ b/gtsam/nonlinear/ISAM2.h @@ -340,8 +340,8 @@ class GTSAM_EXPORT ISAM2 : public BayesTree { void updateDelta(bool forceFullSolve = false) const; private: - /** Serialization function */ #ifdef GTSAM_ENABLE_BOOST_SERIALIZATION + /** Serialization function */ friend class boost::serialization::access; template void serialize(ARCHIVE & ar, const unsigned int /*version*/) { diff --git a/gtsam/nonlinear/ISAM2Clique.h b/gtsam/nonlinear/ISAM2Clique.h index 915ae8ce1..08b74ef26 100644 --- a/gtsam/nonlinear/ISAM2Clique.h +++ b/gtsam/nonlinear/ISAM2Clique.h @@ -147,8 +147,8 @@ class GTSAM_EXPORT ISAM2Clique void restoreFromOriginals(const Vector& originalValues, VectorValues* delta) const; - /** Serialization function */ #ifdef GTSAM_ENABLE_BOOST_SERIALIZATION + /** Serialization function */ friend class boost::serialization::access; template void serialize(ARCHIVE& ar, const unsigned int /*version*/) { diff --git a/gtsam/nonlinear/LinearContainerFactor.h b/gtsam/nonlinear/LinearContainerFactor.h index 0065368e2..dfbf221c3 100644 --- a/gtsam/nonlinear/LinearContainerFactor.h +++ b/gtsam/nonlinear/LinearContainerFactor.h @@ -163,8 +163,8 @@ public: void initializeLinearizationPoint(const Values& linearizationPoint); private: - /** Serialization function */ #ifdef GTSAM_ENABLE_BOOST_SERIALIZATION + /** Serialization function */ friend class boost::serialization::access; template void serialize(ARCHIVE & ar, const unsigned int /*version*/) { diff --git a/gtsam/nonlinear/NonlinearEquality.h b/gtsam/nonlinear/NonlinearEquality.h index 40d58298c..ddf275f38 100644 --- a/gtsam/nonlinear/NonlinearEquality.h +++ b/gtsam/nonlinear/NonlinearEquality.h @@ -182,8 +182,8 @@ public: private: - /// Serialization function #ifdef GTSAM_ENABLE_BOOST_SERIALIZATION /// + /// Serialization function friend class boost::serialization::access; template void serialize(ARCHIVE & ar, const unsigned int /*version*/) { diff --git a/gtsam/nonlinear/NonlinearFactor.h b/gtsam/nonlinear/NonlinearFactor.h index 83841bdc7..6a1222c5d 100644 --- a/gtsam/nonlinear/NonlinearFactor.h +++ b/gtsam/nonlinear/NonlinearFactor.h @@ -303,8 +303,8 @@ public: shared_ptr cloneWithNewNoiseModel(const SharedNoiseModel newNoise) const; private: - /** Serialization function */ #ifdef GTSAM_ENABLE_BOOST_SERIALIZATION + /** Serialization function */ friend class boost::serialization::access; template void serialize(ARCHIVE & ar, const unsigned int /*version*/) { diff --git a/gtsam/nonlinear/NonlinearFactorGraph.h b/gtsam/nonlinear/NonlinearFactorGraph.h index 2d533ca46..92bfdaf20 100644 --- a/gtsam/nonlinear/NonlinearFactorGraph.h +++ b/gtsam/nonlinear/NonlinearFactorGraph.h @@ -253,8 +253,8 @@ namespace gtsam { std::shared_ptr linearizeToHessianFactor( const Values& values, const Scatter& scatter, const Dampen& dampen = nullptr) const; - /** Serialization function */ #ifdef GTSAM_ENABLE_BOOST_SERIALIZATION + /** Serialization function */ friend class boost::serialization::access; template void serialize(ARCHIVE & ar, const unsigned int /*version*/) { diff --git a/gtsam/nonlinear/PriorFactor.h b/gtsam/nonlinear/PriorFactor.h index f5bca7e0d..ab2a66a77 100644 --- a/gtsam/nonlinear/PriorFactor.h +++ b/gtsam/nonlinear/PriorFactor.h @@ -105,8 +105,8 @@ namespace gtsam { private: - /** Serialization function */ #ifdef GTSAM_ENABLE_BOOST_SERIALIZATION + /** Serialization function */ friend class boost::serialization::access; template void serialize(ARCHIVE & ar, const unsigned int /*version*/) { diff --git a/gtsam/nonlinear/Values.h b/gtsam/nonlinear/Values.h index 88dfe1b97..d5b6348cc 100644 --- a/gtsam/nonlinear/Values.h +++ b/gtsam/nonlinear/Values.h @@ -349,8 +349,8 @@ namespace gtsam { return filter(key_value.key) && (dynamic_cast*>(&key_value.value)); } - /** Serialization function */ #ifdef GTSAM_ENABLE_BOOST_SERIALIZATION + /** Serialization function */ friend class boost::serialization::access; template void serialize(ARCHIVE & ar, const unsigned int /*version*/) { diff --git a/gtsam/sam/RangeFactor.h b/gtsam/sam/RangeFactor.h index 9c97fb384..bfc766857 100644 --- a/gtsam/sam/RangeFactor.h +++ b/gtsam/sam/RangeFactor.h @@ -164,8 +164,8 @@ class RangeFactorWithTransform : public ExpressionFactorN { } private: - /** Serialization function */ friend class boost::serialization::access; + /** Serialization function */ template void serialize(ARCHIVE& ar, const unsigned int /*version*/) { // **IMPORTANT** We need to (de)serialize parameters before the base class, diff --git a/gtsam/sfm/SfmData.h b/gtsam/sfm/SfmData.h index 3aca3e3b4..7161ab2f9 100644 --- a/gtsam/sfm/SfmData.h +++ b/gtsam/sfm/SfmData.h @@ -125,9 +125,9 @@ struct GTSAM_EXPORT SfmData { /// @name Serialization /// @{ - /** Serialization function */ #ifdef GTSAM_ENABLE_BOOST_SERIALIZATION friend class boost::serialization::access; + /** Serialization function */ template void serialize(Archive& ar, const unsigned int /*version*/) { ar& BOOST_SERIALIZATION_NVP(cameras); diff --git a/gtsam/sfm/SfmTrack.h b/gtsam/sfm/SfmTrack.h index 27a5164b0..6ef1f9512 100644 --- a/gtsam/sfm/SfmTrack.h +++ b/gtsam/sfm/SfmTrack.h @@ -161,8 +161,8 @@ struct GTSAM_EXPORT SfmTrack : SfmTrack2d { /// @name Serialization /// @{ - /** Serialization function */ #ifdef GTSAM_ENABLE_BOOST_SERIALIZATION + /** Serialization function */ friend class boost::serialization::access; template void serialize(ARCHIVE& ar, const unsigned int /*version*/) { diff --git a/gtsam/slam/AntiFactor.h b/gtsam/slam/AntiFactor.h index da77509ca..3b031b334 100644 --- a/gtsam/slam/AntiFactor.h +++ b/gtsam/slam/AntiFactor.h @@ -106,8 +106,8 @@ namespace gtsam { private: - /** Serialization function */ #ifdef GTSAM_ENABLE_BOOST_SERIALIZATION + /** Serialization function */ friend class boost::serialization::access; template void serialize(ARCHIVE & ar, const unsigned int /*version*/) { diff --git a/gtsam/slam/BetweenFactor.h b/gtsam/slam/BetweenFactor.h index b3bd80a7e..7be202194 100644 --- a/gtsam/slam/BetweenFactor.h +++ b/gtsam/slam/BetweenFactor.h @@ -135,8 +135,8 @@ namespace gtsam { private: - /** Serialization function */ #ifdef GTSAM_ENABLE_BOOST_SERIALIZATION + /** Serialization function */ friend class boost::serialization::access; template void serialize(ARCHIVE & ar, const unsigned int /*version*/) { diff --git a/gtsam/slam/BoundingConstraint.h b/gtsam/slam/BoundingConstraint.h index aeda10c22..405c0d4a6 100644 --- a/gtsam/slam/BoundingConstraint.h +++ b/gtsam/slam/BoundingConstraint.h @@ -83,8 +83,8 @@ struct BoundingConstraint1: public NoiseModelFactorN { private: - /** Serialization function */ #ifdef GTSAM_ENABLE_BOOST_SERIALIZATION + /** Serialization function */ friend class boost::serialization::access; template void serialize(ARCHIVE & ar, const unsigned int /*version*/) { diff --git a/gtsam/slam/EssentialMatrixConstraint.h b/gtsam/slam/EssentialMatrixConstraint.h index 6d4833178..45e54aa5d 100644 --- a/gtsam/slam/EssentialMatrixConstraint.h +++ b/gtsam/slam/EssentialMatrixConstraint.h @@ -91,8 +91,8 @@ public: private: - /** Serialization function */ #ifdef GTSAM_ENABLE_BOOST_SERIALIZATION + /** Serialization function */ friend class boost::serialization::access; template void serialize(ARCHIVE & ar, const unsigned int /*version*/) { diff --git a/gtsam/slam/GeneralSFMFactor.h b/gtsam/slam/GeneralSFMFactor.h index b408f9bb6..e2b07f62e 100644 --- a/gtsam/slam/GeneralSFMFactor.h +++ b/gtsam/slam/GeneralSFMFactor.h @@ -181,8 +181,8 @@ public: } private: - /** Serialization function */ #ifdef GTSAM_ENABLE_BOOST_SERIALIZATION + /** Serialization function */ friend class boost::serialization::access; template void serialize(Archive & ar, const unsigned int /*version*/) { diff --git a/gtsam/slam/PoseRotationPrior.h b/gtsam/slam/PoseRotationPrior.h index ac21d7cf3..8ce90988b 100644 --- a/gtsam/slam/PoseRotationPrior.h +++ b/gtsam/slam/PoseRotationPrior.h @@ -91,8 +91,8 @@ public: private: - /** Serialization function */ #ifdef GTSAM_ENABLE_BOOST_SERIALIZATION + /** Serialization function */ friend class boost::serialization::access; template void serialize(ARCHIVE & ar, const unsigned int /*version*/) { diff --git a/gtsam/slam/PoseTranslationPrior.h b/gtsam/slam/PoseTranslationPrior.h index 6e57952d0..c5257f45c 100644 --- a/gtsam/slam/PoseTranslationPrior.h +++ b/gtsam/slam/PoseTranslationPrior.h @@ -90,8 +90,8 @@ public: private: - /** Serialization function */ #ifdef GTSAM_ENABLE_BOOST_SERIALIZATION + /** Serialization function */ friend class boost::serialization::access; template void serialize(ARCHIVE & ar, const unsigned int /*version*/) { diff --git a/gtsam/slam/ProjectionFactor.h b/gtsam/slam/ProjectionFactor.h index 2f1b59076..f40d8f5bb 100644 --- a/gtsam/slam/ProjectionFactor.h +++ b/gtsam/slam/ProjectionFactor.h @@ -188,8 +188,8 @@ namespace gtsam { private: - /// Serialization function #ifdef GTSAM_ENABLE_BOOST_SERIALIZATION /// + /// Serialization function friend class boost::serialization::access; template void serialize(ARCHIVE & ar, const unsigned int /*version*/) { diff --git a/gtsam/slam/ReferenceFrameFactor.h b/gtsam/slam/ReferenceFrameFactor.h index 837719cea..0ae6ea88a 100644 --- a/gtsam/slam/ReferenceFrameFactor.h +++ b/gtsam/slam/ReferenceFrameFactor.h @@ -122,8 +122,8 @@ public: Key local_key() const { return this->key3(); } private: - /** Serialization function */ #ifdef GTSAM_ENABLE_BOOST_SERIALIZATION + /** Serialization function */ friend class boost::serialization::access; template void serialize(ARCHIVE & ar, const unsigned int /*version*/) { diff --git a/gtsam/slam/SmartFactorBase.h b/gtsam/slam/SmartFactorBase.h index 560bf41dd..cda34119a 100644 --- a/gtsam/slam/SmartFactorBase.h +++ b/gtsam/slam/SmartFactorBase.h @@ -443,8 +443,8 @@ protected: private: -/// Serialization function #ifdef GTSAM_ENABLE_BOOST_SERIALIZATION/// +/// Serialization function friend class boost::serialization::access; template void serialize(ARCHIVE & ar, const unsigned int /*version*/) { diff --git a/gtsam/slam/SmartFactorParams.h b/gtsam/slam/SmartFactorParams.h index d8eaf238f..4523d0e0e 100644 --- a/gtsam/slam/SmartFactorParams.h +++ b/gtsam/slam/SmartFactorParams.h @@ -118,8 +118,8 @@ struct SmartProjectionParams { private: - /// Serialization function #ifdef GTSAM_ENABLE_BOOST_SERIALIZATION /// + /// Serialization function friend class boost::serialization::access; template void serialize(ARCHIVE & ar, const unsigned int version) { diff --git a/gtsam/slam/SmartProjectionFactor.h b/gtsam/slam/SmartProjectionFactor.h index 8091198a7..c54efecc4 100644 --- a/gtsam/slam/SmartProjectionFactor.h +++ b/gtsam/slam/SmartProjectionFactor.h @@ -466,8 +466,8 @@ protected: private: - /// Serialization function #ifdef GTSAM_ENABLE_BOOST_SERIALIZATION /// + /// Serialization function friend class boost::serialization::access; template void serialize(ARCHIVE & ar, const unsigned int version) { diff --git a/gtsam/slam/SmartProjectionPoseFactor.h b/gtsam/slam/SmartProjectionPoseFactor.h index 3745b7d8e..b88c1c628 100644 --- a/gtsam/slam/SmartProjectionPoseFactor.h +++ b/gtsam/slam/SmartProjectionPoseFactor.h @@ -148,8 +148,8 @@ public: private: - /// Serialization function #ifdef GTSAM_ENABLE_BOOST_SERIALIZATION /// + /// Serialization function friend class boost::serialization::access; template void serialize(ARCHIVE & ar, const unsigned int /*version*/) { diff --git a/gtsam/slam/SmartProjectionRigFactor.h b/gtsam/slam/SmartProjectionRigFactor.h index 70bafba65..0aa070ed0 100644 --- a/gtsam/slam/SmartProjectionRigFactor.h +++ b/gtsam/slam/SmartProjectionRigFactor.h @@ -352,8 +352,8 @@ class SmartProjectionRigFactor : public SmartProjectionFactor { } private: - /// Serialization function #ifdef GTSAM_ENABLE_BOOST_SERIALIZATION /// + /// Serialization function friend class boost::serialization::access; template void serialize(ARCHIVE& ar, const unsigned int /*version*/) { diff --git a/gtsam/slam/StereoFactor.h b/gtsam/slam/StereoFactor.h index f9955ff1a..a2d428d11 100644 --- a/gtsam/slam/StereoFactor.h +++ b/gtsam/slam/StereoFactor.h @@ -170,8 +170,8 @@ public: inline bool throwCheirality() const { return throwCheirality_; } private: - /** Serialization function */ #ifdef GTSAM_ENABLE_BOOST_SERIALIZATION + /** Serialization function */ friend class boost::serialization::access; template void serialize(Archive & ar, const unsigned int /*version*/) { diff --git a/gtsam/slam/TriangulationFactor.h b/gtsam/slam/TriangulationFactor.h index 38d1abcfb..6feaa7041 100644 --- a/gtsam/slam/TriangulationFactor.h +++ b/gtsam/slam/TriangulationFactor.h @@ -189,8 +189,8 @@ public: private: - /// Serialization function #ifdef GTSAM_ENABLE_BOOST_SERIALIZATION /// + /// Serialization function friend class boost::serialization::access; template void serialize(ARCHIVE & ar, const unsigned int /*version*/) { diff --git a/gtsam/symbolic/SymbolicBayesNet.h b/gtsam/symbolic/SymbolicBayesNet.h index a1c4c3d72..f2c142762 100644 --- a/gtsam/symbolic/SymbolicBayesNet.h +++ b/gtsam/symbolic/SymbolicBayesNet.h @@ -104,8 +104,8 @@ namespace gtsam { /// @} private: - /** Serialization function */ #ifdef GTSAM_ENABLE_BOOST_SERIALIZATION + /** Serialization function */ friend class boost::serialization::access; template void serialize(ARCHIVE & ar, const unsigned int /*version*/) { diff --git a/gtsam/symbolic/SymbolicBayesTree.h b/gtsam/symbolic/SymbolicBayesTree.h index a30af3d68..4d5804b27 100644 --- a/gtsam/symbolic/SymbolicBayesTree.h +++ b/gtsam/symbolic/SymbolicBayesTree.h @@ -63,8 +63,8 @@ namespace gtsam { bool equals(const This& other, double tol = 1e-9) const; private: - /** Serialization function */ #ifdef GTSAM_ENABLE_BOOST_SERIALIZATION + /** Serialization function */ friend class boost::serialization::access; template void serialize(ARCHIVE & ar, const unsigned int /*version*/) { diff --git a/gtsam/symbolic/SymbolicConditional.h b/gtsam/symbolic/SymbolicConditional.h index 06f6121bc..5cc4e9cfc 100644 --- a/gtsam/symbolic/SymbolicConditional.h +++ b/gtsam/symbolic/SymbolicConditional.h @@ -126,8 +126,8 @@ namespace gtsam { /// @} private: - /** Serialization function */ #ifdef GTSAM_ENABLE_BOOST_SERIALIZATION + /** Serialization function */ friend class boost::serialization::access; template void serialize(Archive & ar, const unsigned int /*version*/) { diff --git a/gtsam/symbolic/SymbolicFactor.h b/gtsam/symbolic/SymbolicFactor.h index 9ea8d4ed1..0e9eb3d46 100644 --- a/gtsam/symbolic/SymbolicFactor.h +++ b/gtsam/symbolic/SymbolicFactor.h @@ -153,8 +153,8 @@ namespace gtsam { /// @} private: - /** Serialization function */ #ifdef GTSAM_ENABLE_BOOST_SERIALIZATION + /** Serialization function */ friend class boost::serialization::access; template void serialize(ARCHIVE & ar, const unsigned int /*version*/) { diff --git a/gtsam/symbolic/SymbolicFactorGraph.h b/gtsam/symbolic/SymbolicFactorGraph.h index ef719609d..01b532a5c 100644 --- a/gtsam/symbolic/SymbolicFactorGraph.h +++ b/gtsam/symbolic/SymbolicFactorGraph.h @@ -148,8 +148,8 @@ namespace gtsam { /// @} private: - /** Serialization function */ #ifdef GTSAM_ENABLE_BOOST_SERIALIZATION + /** Serialization function */ friend class boost::serialization::access; template void serialize(ARCHIVE & ar, const unsigned int /*version*/) {