Abstracted out serialization code for PreintegrationBase
parent
55f686dd38
commit
aaddf52cb1
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@ -118,10 +118,8 @@ private:
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template<class ARCHIVE>
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void serialize(ARCHIVE & ar, const unsigned int /*version*/) {
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namespace bs = ::boost::serialization;
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ar & BOOST_SERIALIZATION_NVP(p_);
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ar & BOOST_SERIALIZATION_NVP(deltaTij_);
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ar & BOOST_SERIALIZATION_BASE_OBJECT_NVP(PreintegrationBase);
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ar & BOOST_SERIALIZATION_NVP(deltaXij_);
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ar & BOOST_SERIALIZATION_NVP(biasHat_);
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ar & bs::make_nvp("delRdelBiasOmega_", bs::make_array(delRdelBiasOmega_.data(), delRdelBiasOmega_.size()));
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ar & bs::make_nvp("delPdelBiasAcc_", bs::make_array(delPdelBiasAcc_.data(), delPdelBiasAcc_.size()));
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ar & bs::make_nvp("delPdelBiasOmega_", bs::make_array(delPdelBiasOmega_.data(), delPdelBiasOmega_.size()));
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@ -213,6 +213,16 @@ class GTSAM_EXPORT PreintegrationBase {
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/// @}
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#endif
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private:
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/** Serialization function */
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friend class boost::serialization::access;
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template<class ARCHIVE>
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void serialize(ARCHIVE & ar, const unsigned int /*version*/) {
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ar & BOOST_SERIALIZATION_NVP(p_);
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ar & BOOST_SERIALIZATION_NVP(biasHat_);
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ar & BOOST_SERIALIZATION_NVP(deltaTij_);
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}
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public:
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GTSAM_MAKE_ALIGNED_OPERATOR_NEW
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};
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@ -132,9 +132,7 @@ private:
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template<class ARCHIVE>
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void serialize(ARCHIVE & ar, const unsigned int /*version*/) {
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namespace bs = ::boost::serialization;
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ar & BOOST_SERIALIZATION_NVP(p_);
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ar & BOOST_SERIALIZATION_NVP(biasHat_);
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ar & BOOST_SERIALIZATION_NVP(deltaTij_);
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ar & BOOST_SERIALIZATION_BASE_OBJECT_NVP(PreintegrationBase);
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ar & bs::make_nvp("preintegrated_", bs::make_array(preintegrated_.data(), preintegrated_.size()));
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ar & bs::make_nvp("preintegrated_H_biasAcc_", bs::make_array(preintegrated_H_biasAcc_.data(), preintegrated_H_biasAcc_.size()));
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ar & bs::make_nvp("preintegrated_H_biasOmega_", bs::make_array(preintegrated_H_biasOmega_.data(), preintegrated_H_biasOmega_.size()));
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