serialization function comment moved

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:

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<class Archive>
   void save(Archive& ar, const unsigned int /*version*/) const

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<class ARCHIVE>
   void serialize(ARCHIVE & ar, const unsigned int /*version*/) {

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<class ARCHIVE>
   void serialize(ARCHIVE & ar, const unsigned int /*version*/) {

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<class ARCHIVE>
   void serialize(ARCHIVE & ar, const unsigned int /*version*/) {

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<class ARCHIVE>
     void serialize(ARCHIVE & ar, const unsigned int /*version*/) {

gtsam/base/SymmetricBlockMatrix.h

@@ -398,8 +398,8 @@ namespace gtsam {
     template<typename SymmetricBlockMatrixType> friend class SymmetricBlockMatrixBlockExpr;
 
   private:
-    /** Serialization function */
 #ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
+    /** Serialization function */
     friend class boost::serialization::access;
     template<class ARCHIVE>
     void serialize(ARCHIVE & ar, const unsigned int /*version*/) {

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<class ARCHIVE>
     void serialize(ARCHIVE & ar, const unsigned int /*version*/) {

gtsam/discrete/DecisionTree-inl.h

@@ -154,8 +154,8 @@ namespace gtsam {
    private:
     using Base = DecisionTree<L, Y>::Node;
 
-    /** Serialization function */
 #ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
+    /** Serialization function */
     friend class boost::serialization::access;
     template <class ARCHIVE>
     void serialize(ARCHIVE& ar, const unsigned int /*version*/) {

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 <class ARCHIVE>
       void serialize(ARCHIVE& ar, const unsigned int /*version*/) {}

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 <class ARCHIVE>
     void serialize(ARCHIVE& ar, const unsigned int /*version*/) {

gtsam/discrete/DiscreteBayesNet.h

@@ -150,8 +150,8 @@ class GTSAM_EXPORT DiscreteBayesNet: public BayesNet<DiscreteConditional> {
     /// @}
 
  private:
-    /** Serialization function */
 #ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
+    /** Serialization function */
     friend class boost::serialization::access;
     template<class ARCHIVE>
     void serialize(ARCHIVE & ar, const unsigned int /*version*/) {

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 <class Archive>
   void serialize(Archive& ar, const unsigned int /*version*/) {

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 <class ARCHIVE>
     void serialize(ARCHIVE& ar, const unsigned int /*version*/) {

gtsam/discrete/DiscreteLookupDAG.h

@@ -126,8 +126,8 @@ class GTSAM_EXPORT DiscreteLookupDAG : public BayesNet<DiscreteLookupTable> {
   /// @}
 
  private:
-  /** Serialization function */
 #ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
+  /** Serialization function */
   friend class boost::serialization::access;
   template <class ARCHIVE>
   void serialize(ARCHIVE& ar, const unsigned int /*version*/) {

gtsam/geometry/BearingRange.h

@@ -147,8 +147,8 @@ public:
   /// @{
 
 private:
-  /// Serialization function
   template <class ARCHIVE>
+  /// Serialization function
   void serialize(ARCHIVE& ar, const unsigned int /*version*/) {
     ar& boost::serialization::make_nvp("bearing", bearing_);
     ar& boost::serialization::make_nvp("range", range_);

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 <class Archive>
   void serialize(Archive& ar, const unsigned int /*version*/) {

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 <class Archive>
   void serialize(Archive& ar, const unsigned int /*version*/) {

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 <class Archive>
   void serialize(Archive& ar, const unsigned int /*version*/) {

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 <class Archive>
   void serialize(Archive& ar, const unsigned int /*version*/) {

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 <class Archive>
   void serialize(Archive& ar, const unsigned int /*version*/) {

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 <class Archive>
   void serialize(Archive& ar, const unsigned int /*version*/) {

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 <class Archive>
   void serialize(Archive& ar, const unsigned int /*version*/) {

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<class Archive>
   void serialize(Archive & ar, const unsigned int /*version*/) {

gtsam/geometry/CameraSet.h

@@ -465,8 +465,8 @@ class CameraSet : public std::vector<CAMERA, Eigen::aligned_allocator<CAMERA>> {
   }
 
  private:
-  /// Serialization function
 #ifdef GTSAM_ENABLE_BOOST_SERIALIZATION  ///
+  /// Serialization function
   friend class boost::serialization::access;
   template <class ARCHIVE>
   void serialize(ARCHIVE& ar, const unsigned int /*version*/) {

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<class ARCHIVE>
     void serialize(ARCHIVE & ar, const unsigned int /*version*/) {

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<class Archive>
   void serialize(Archive & ar, const unsigned int /*version*/) {

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<class Archive>
   void serialize(Archive & ar, const unsigned int /*version*/) {

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<class ARCHIVE>
   void serialize(ARCHIVE & ar, const unsigned int version) {

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<class Archive>
   void serialize(Archive & ar, const unsigned int /*version*/) {

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<class Archive>
   void serialize(Archive & ar, const unsigned int /*version*/) {

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<class ARCHIVE>
     void serialize(ARCHIVE & ar, const unsigned int /*version*/) {

gtsam/geometry/Rot3.h

@@ -528,8 +528,8 @@ class GTSAM_EXPORT Rot3 : public LieGroup<Rot3, 3> {
     /// @}
 
    private:
-    /** Serialization function */
 #ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
+    /** Serialization function */
     friend class boost::serialization::access;
     template <class ARCHIVE>
     void serialize(ARCHIVE& ar, const unsigned int /*version*/) {

gtsam/geometry/SO3.h

@@ -99,8 +99,8 @@ template <>
 GTSAM_EXPORT
 Vector9 SO3::vec(OptionalJacobian<9, 3> H) const;
 
-/** Serialization function */
 template <class Archive>
+/** 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));

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 <class Archive>
+/** 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));

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<class Archive>
 void serialize(
   Archive& ar, SOn& Q,

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 <class Archive>
   void serialize(Archive& ar, const unsigned int /*version*/) {

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<class ARCHIVE>
   void serialize(ARCHIVE & ar, const unsigned int /*version*/) {

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<class ARCHIVE>
   void serialize(ARCHIVE & ar, const unsigned int /*version*/) {

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<class ARCHIVE>
   void serialize(ARCHIVE & ar, const unsigned int version) {

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 <class Archive>
   void serialize(Archive &ar, const unsigned int /*version*/) {

gtsam/hybrid/HybridBayesNet.h

@@ -228,8 +228,8 @@ class GTSAM_EXPORT HybridBayesNet : public BayesNet<HybridConditional> {
    */
   void updateDiscreteConditionals(const DecisionTreeFactor &prunedDecisionTree);
 
-  /** Serialization function */
 #ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
+  /** Serialization function */
   friend class boost::serialization::access;
   template <class ARCHIVE>
   void serialize(ARCHIVE &ar, const unsigned int /*version*/) {

gtsam/hybrid/HybridBayesTree.h

@@ -114,8 +114,8 @@ class GTSAM_EXPORT HybridBayesTree : public BayesTree<HybridBayesTreeClique> {
   /// @}
 
  private:
-  /** Serialization function */
 #ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
+  /** Serialization function */
   friend class boost::serialization::access;
   template <class ARCHIVE>
   void serialize(ARCHIVE& ar, const unsigned int /*version*/) {

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 <class Archive>
   void serialize(Archive& ar, const unsigned int /*version*/) {

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 <class ARCHIVE>
   void serialize(ARCHIVE &ar, const unsigned int /*version*/) {

gtsam/inference/BayesTree.h

@@ -259,8 +259,8 @@ namespace gtsam {
     template<class BAYESTREE, class GRAPH> friend class EliminatableClusterTree;
 
    private:
-    /** Serialization function */
 #ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
+    /** Serialization function */
     friend class boost::serialization::access;
     template<class ARCHIVE>
     void serialize(ARCHIVE & ar, const unsigned int /*version*/) {

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<class ARCHIVE>
     void serialize(ARCHIVE & ar, const unsigned int /*version*/) {

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<const FACTOR&>(static_cast<const DERIVEDCONDITIONAL&>(*this)); }
 
-    /** Serialization function */
 #ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
+    /** Serialization function */
     friend class boost::serialization::access;
     template<class ARCHIVE>
     void serialize(ARCHIVE & ar, const unsigned int /*version*/) {

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<class Archive>
     void serialize(Archive & ar, const unsigned int /*version*/) {

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 <class ARCHIVE>
   void serialize(ARCHIVE& ar, const unsigned int /*version*/) {

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<class ARCHIVE>
   void serialize(ARCHIVE & ar, const unsigned int /*version*/) {

gtsam/inference/Ordering.h

@@ -256,8 +256,8 @@ private:
   static GTSAM_EXPORT Ordering ColamdConstrained(
       const VariableIndex& variableIndex, std::vector<int>& cmember);
 
-  /** Serialization function */
 #ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
+  /** Serialization function */
   friend class boost::serialization::access;
   template<class ARCHIVE>
   void serialize(ARCHIVE & ar, const unsigned int version) {

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<class ARCHIVE>
   void serialize(ARCHIVE & ar, const unsigned int /*version*/) {

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<class ARCHIVE>
   void serialize(ARCHIVE & ar, const unsigned int /*version*/) {

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<class ARCHIVE>
     void serialize(ARCHIVE & ar, const unsigned int /*version*/) {

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<class Archive>
     void serialize(Archive & ar, const unsigned int /*version*/) {

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<class ARCHIVE>
     void serialize(ARCHIVE & ar, const unsigned int /*version*/) {

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<class ARCHIVE>
     void serialize(ARCHIVE & ar, const unsigned int /*version*/) {

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<class ARCHIVE>
     void serialize(ARCHIVE & ar, const unsigned int /*version*/) {

gtsam/linear/JacobianFactor.h

@@ -413,8 +413,8 @@ namespace gtsam {
     // be very selective on who can access these private methods:
     template<typename T> friend class ExpressionFactor;
 
-    /** Serialization function */
 #ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
+    /** Serialization function */
     friend class boost::serialization::access;
     template<class ARCHIVE>
     void save(ARCHIVE & ar, const unsigned int version) const {

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 <class ARCHIVE>
   void serialize(ARCHIVE &ar, const unsigned int /*version*/) {

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<class ARCHIVE>
       void serialize(ARCHIVE & ar, const unsigned int /*version*/) {

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<class ARCHIVE>
     void serialize(ARCHIVE & ar, const unsigned int /*version*/) {

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<class ARCHIVE>
   void serialize(ARCHIVE & ar, const unsigned int /*version*/) {

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<class ARCHIVE>
   void serialize(ARCHIVE & ar, const unsigned int /*version*/) {

gtsam/navigation/BarometricFactor.h

@@ -97,8 +97,8 @@ class GTSAM_EXPORT BarometricFactor : public NoiseModelFactorN<Pose3, double> {
     };
 
    private:
-    /// Serialization function
 #ifdef GTSAM_ENABLE_BOOST_SERIALIZATION    ///
+    /// Serialization function
     friend class boost::serialization::access;
     template <class ARCHIVE>
     void serialize(ARCHIVE& ar, const unsigned int /*version*/) {

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 <class ARCHIVE>
   void serialize(ARCHIVE& ar, const unsigned int /*version*/) {

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<class ARCHIVE>
   void serialize(ARCHIVE & ar, const unsigned int /*version*/) {

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<class ARCHIVE>
   void serialize(ARCHIVE & ar, const unsigned int /*version*/) {

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<class ARCHIVE>
   void serialize(ARCHIVE & ar, const unsigned int /*version*/) {

gtsam/navigation/MagPoseFactor.h

@@ -132,8 +132,8 @@ class MagPoseFactor: public NoiseModelFactorN<POSE> {
   }
 
  private:
-  /// Serialization function.
 #ifdef GTSAM_ENABLE_BOOST_SERIALIZATION  ///
+  /// Serialization function.
   friend class boost::serialization::access;
   template<class ARCHIVE>
   void serialize(ARCHIVE & ar, const unsigned int /*version*/) {

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<class ARCHIVE>
   void serialize(ARCHIVE & ar, const unsigned int /*version*/) {

gtsam/navigation/PreintegratedRotation.h

@@ -60,8 +60,8 @@ struct GTSAM_EXPORT PreintegratedRotationParams {
   std::optional<Pose3>   getBodyPSensor()   const { return body_P_sensor; }
 
  private:
-  /** Serialization function */
 #ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
+  /** Serialization function */
   friend class boost::serialization::access;
   template<class ARCHIVE>
   void serialize(ARCHIVE & ar, const unsigned int /*version*/) {

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<class ARCHIVE>
   void serialize(ARCHIVE & ar, const unsigned int /*version*/) {

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<class ARCHIVE>
   void serialize(ARCHIVE & ar, const unsigned int /*version*/) {

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<class ARCHIVE>
   void serialize(ARCHIVE & ar, const unsigned int /*version*/) {

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<class ARCHIVE>
   void serialize(ARCHIVE &ar, const unsigned int /*version*/) {

gtsam/nonlinear/FunctorizedFactor.h

@@ -119,8 +119,8 @@ class FunctorizedFactor : public NoiseModelFactorN<T> {
   /// @}
 
  private:
-  /** Serialization function */
 #ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
+  /** Serialization function */
   friend class boost::serialization::access;
   template <class ARCHIVE>
   void serialize(ARCHIVE &ar, const unsigned int /*version*/) {

gtsam/nonlinear/ISAM2.h

@@ -340,8 +340,8 @@ class GTSAM_EXPORT ISAM2 : public BayesTree<ISAM2Clique> {
   void updateDelta(bool forceFullSolve = false) const;
 
  private:
-  /** Serialization function */
 #ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
+  /** Serialization function */
   friend class boost::serialization::access;
   template<class ARCHIVE>
   void serialize(ARCHIVE & ar, const unsigned int /*version*/) {

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 <class ARCHIVE>
   void serialize(ARCHIVE& ar, const unsigned int /*version*/) {

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<class ARCHIVE>
   void serialize(ARCHIVE & ar, const unsigned int /*version*/) {

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<class ARCHIVE>
   void serialize(ARCHIVE & ar, const unsigned int /*version*/) {

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<class ARCHIVE>
   void serialize(ARCHIVE & ar, const unsigned int /*version*/) {

gtsam/nonlinear/NonlinearFactorGraph.h

@@ -253,8 +253,8 @@ namespace gtsam {
     std::shared_ptr<HessianFactor> 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<class ARCHIVE>
     void serialize(ARCHIVE & ar, const unsigned int /*version*/) {

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<class ARCHIVE>
     void serialize(ARCHIVE & ar, const unsigned int /*version*/) {

gtsam/nonlinear/Values.h

@@ -349,8 +349,8 @@ namespace gtsam {
       return filter(key_value.key) && (dynamic_cast<const GenericValue<ValueType>*>(&key_value.value));
     }
 
-    /** Serialization function */
 #ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
+    /** Serialization function */
     friend class boost::serialization::access;
     template<class ARCHIVE>
     void serialize(ARCHIVE & ar, const unsigned int /*version*/) {

gtsam/sam/RangeFactor.h

@@ -164,8 +164,8 @@ class RangeFactorWithTransform : public ExpressionFactorN<T, A1, A2> {
   }
 
  private:
-  /** Serialization function */
   friend class boost::serialization::access;
+  /** Serialization function */
   template <typename ARCHIVE>
   void serialize(ARCHIVE& ar, const unsigned int /*version*/) {
     // **IMPORTANT** We need to (de)serialize parameters before the base class,

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 <class Archive>
   void serialize(Archive& ar, const unsigned int /*version*/) {
     ar& BOOST_SERIALIZATION_NVP(cameras);

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 <class ARCHIVE>
   void serialize(ARCHIVE& ar, const unsigned int /*version*/) {

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<class ARCHIVE>
     void serialize(ARCHIVE & ar, const unsigned int /*version*/) {

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<class ARCHIVE>
     void serialize(ARCHIVE & ar, const unsigned int /*version*/) {

gtsam/slam/BoundingConstraint.h

@@ -83,8 +83,8 @@ struct BoundingConstraint1: public NoiseModelFactorN<VALUE> {
 
 private:
 
-  /** Serialization function */
 #ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
+  /** Serialization function */
   friend class boost::serialization::access;
   template<class ARCHIVE>
   void serialize(ARCHIVE & ar, const unsigned int /*version*/) {

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<class ARCHIVE>
   void serialize(ARCHIVE & ar, const unsigned int /*version*/) {

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<class Archive>
   void serialize(Archive & ar, const unsigned int /*version*/) {

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<class ARCHIVE>
   void serialize(ARCHIVE & ar, const unsigned int /*version*/) {

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<class ARCHIVE>
   void serialize(ARCHIVE & ar, const unsigned int /*version*/) {

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<class ARCHIVE>
     void serialize(ARCHIVE & ar, const unsigned int /*version*/) {

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<class ARCHIVE>
   void serialize(ARCHIVE & ar, const unsigned int /*version*/) {

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<class ARCHIVE>
   void serialize(ARCHIVE & ar, const unsigned int /*version*/) {

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<class ARCHIVE>
   void serialize(ARCHIVE & ar, const unsigned int version) {