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Abstracted out serialization code for PreintegrationBase

release/4.3a0
Varun Agrawal 2020-07-08 12:23:01 -04:00
parent 55f686dd38
commit aaddf52cb1
3 changed files with 12 additions and 6 deletions
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4
gtsam/navigation/ManifoldPreintegration.h
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@ -118,10 +118,8 @@ private:
template<class ARCHIVE> template<class ARCHIVE>
void serialize(ARCHIVE & ar, const unsigned int /*version*/) { void serialize(ARCHIVE & ar, const unsigned int /*version*/) {
namespace bs = ::boost::serialization; namespace bs = ::boost::serialization;
ar & BOOST_SERIALIZATION_NVP(p_); ar & BOOST_SERIALIZATION_BASE_OBJECT_NVP(PreintegrationBase);
ar & BOOST_SERIALIZATION_NVP(deltaTij_);
ar & BOOST_SERIALIZATION_NVP(deltaXij_); ar & BOOST_SERIALIZATION_NVP(deltaXij_);
ar & BOOST_SERIALIZATION_NVP(biasHat_);
ar & bs::make_nvp("delRdelBiasOmega_", bs::make_array(delRdelBiasOmega_.data(), delRdelBiasOmega_.size())); ar & bs::make_nvp("delRdelBiasOmega_", bs::make_array(delRdelBiasOmega_.data(), delRdelBiasOmega_.size()));
ar & bs::make_nvp("delPdelBiasAcc_", bs::make_array(delPdelBiasAcc_.data(), delPdelBiasAcc_.size())); ar & bs::make_nvp("delPdelBiasAcc_", bs::make_array(delPdelBiasAcc_.data(), delPdelBiasAcc_.size()));
ar & bs::make_nvp("delPdelBiasOmega_", bs::make_array(delPdelBiasOmega_.data(), delPdelBiasOmega_.size())); ar & bs::make_nvp("delPdelBiasOmega_", bs::make_array(delPdelBiasOmega_.data(), delPdelBiasOmega_.size()));

10
gtsam/navigation/PreintegrationBase.h
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@ -213,6 +213,16 @@ class GTSAM_EXPORT PreintegrationBase {
/// @} /// @}
#endif #endif
private:
/** Serialization function */
friend class boost::serialization::access;
template<class ARCHIVE>
void serialize(ARCHIVE & ar, const unsigned int /*version*/) {
ar & BOOST_SERIALIZATION_NVP(p_);
ar & BOOST_SERIALIZATION_NVP(biasHat_);
ar & BOOST_SERIALIZATION_NVP(deltaTij_);
}
public: public:
GTSAM_MAKE_ALIGNED_OPERATOR_NEW GTSAM_MAKE_ALIGNED_OPERATOR_NEW
}; };

4
gtsam/navigation/TangentPreintegration.h
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@ -132,9 +132,7 @@ private:
template<class ARCHIVE> template<class ARCHIVE>
void serialize(ARCHIVE & ar, const unsigned int /*version*/) { void serialize(ARCHIVE & ar, const unsigned int /*version*/) {
namespace bs = ::boost::serialization; namespace bs = ::boost::serialization;
ar & BOOST_SERIALIZATION_NVP(p_); ar & BOOST_SERIALIZATION_BASE_OBJECT_NVP(PreintegrationBase);
ar & BOOST_SERIALIZATION_NVP(biasHat_);
ar & BOOST_SERIALIZATION_NVP(deltaTij_);
ar & bs::make_nvp("preintegrated_", bs::make_array(preintegrated_.data(), preintegrated_.size())); ar & bs::make_nvp("preintegrated_", bs::make_array(preintegrated_.data(), preintegrated_.size()));
ar & bs::make_nvp("preintegrated_H_biasAcc_", bs::make_array(preintegrated_H_biasAcc_.data(), preintegrated_H_biasAcc_.size())); ar & bs::make_nvp("preintegrated_H_biasAcc_", bs::make_array(preintegrated_H_biasAcc_.data(), preintegrated_H_biasAcc_.size()));
ar & bs::make_nvp("preintegrated_H_biasOmega_", bs::make_array(preintegrated_H_biasOmega_.data(), preintegrated_H_biasOmega_.size())); ar & bs::make_nvp("preintegrated_H_biasOmega_", bs::make_array(preintegrated_H_biasOmega_.data(), preintegrated_H_biasOmega_.size()));