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Merge pull request #404 from borglab/fix/serialization 

Fix serialization warning for boost::optional<Vector3>
release/4.3a0
Varun Agrawal 2020-07-14 12:50:19 -04:00 committed by GitHub
parent 73209e6faa 84bb418529
commit b0e9a0ccd8
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1 changed files with 7 additions and 1 deletions
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8
gtsam/navigation/PreintegratedRotation.h
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@ -62,8 +62,14 @@ struct GTSAM_EXPORT PreintegratedRotationParams {
void serialize(ARCHIVE & ar, const unsigned int /*version*/) {
namespace bs = ::boost::serialization;
ar & BOOST_SERIALIZATION_NVP(gyroscopeCovariance);
ar & BOOST_SERIALIZATION_NVP(omegaCoriolis);
ar & BOOST_SERIALIZATION_NVP(body_P_sensor);
// Provide support for Eigen::Matrix in boost::optional
bool omegaCoriolisFlag = omegaCoriolis.is_initialized();
ar & boost::serialization::make_nvp("omegaCoriolisFlag", omegaCoriolisFlag);
if (omegaCoriolisFlag) {
ar & BOOST_SERIALIZATION_NVP(*omegaCoriolis);
}
}
#ifdef GTSAM_USE_QUATERNIONS