Merged in fix/matlab_tests (pull request #361)

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Fix/matlab tests
Approved-by: Mike Sheffler <msheffler@toyon.com>

gtsam.h

@@ -228,6 +228,12 @@ virtual class Value {
   size_t dim() const;
 };
 
+#include <gtsam/base/GenericValue.h>
+template<T = {Vector, gtsam::Point2, gtsam::Point3, gtsam::Pose2, gtsam::Pose3, gtsam::Rot2}>
+virtual class GenericValue : gtsam::Value {
+  void serializable() const;
+};
+
 #include <gtsam/base/deprecated/LieScalar.h>
 class LieScalar {
   // Standard constructors
@@ -2259,6 +2265,9 @@ virtual class NonlinearEquality : gtsam::NoiseModelFactor {
 template<POSE, POINT>
 virtual class RangeFactor : gtsam::NoiseModelFactor {
   RangeFactor(size_t key1, size_t key2, double measured, const gtsam::noiseModel::Base* noiseModel);
+
+  // enabling serialization functionality
+  void serialize() const;
 };
 
 typedef gtsam::RangeFactor<gtsam::Pose2, gtsam::Point2> RangeFactorPosePoint2;
@@ -2275,6 +2284,9 @@ typedef gtsam::RangeFactor<gtsam::SimpleCamera, gtsam::SimpleCamera> RangeFactor
 template<POSE, POINT>
 virtual class RangeFactorWithTransform : gtsam::NoiseModelFactor {
   RangeFactorWithTransform(size_t key1, size_t key2, double measured, const gtsam::noiseModel::Base* noiseModel, const POSE& body_T_sensor);
+
+  // enabling serialization functionality
+  void serialize() const;
 };
 
 typedef gtsam::RangeFactorWithTransform<gtsam::Pose2, gtsam::Point2> RangeFactorWithTransformPosePoint2;

gtsam/base/serialization.h

@@ -24,7 +24,6 @@
 #include <string>
 
 // includes for standard serialization types
-#include <boost/serialization/export.hpp>
 #include <boost/serialization/optional.hpp>
 #include <boost/serialization/shared_ptr.hpp>
 #include <boost/serialization/vector.hpp>
@@ -39,6 +38,7 @@
 #include <boost/archive/xml_oarchive.hpp>
 #include <boost/archive/binary_iarchive.hpp>
 #include <boost/archive/binary_oarchive.hpp>
+#include <boost/serialization/export.hpp>
 
 namespace gtsam {
 

gtsam/nonlinear/ExpressionFactor.h

@@ -266,6 +266,13 @@ class ExpressionFactor2 : public ExpressionFactor<T> {
   virtual Expression<T> expression() const {
     return expression(this->keys_[0], this->keys_[1]);
   }
+
+  friend class boost::serialization::access;
+  template <class ARCHIVE>
+  void serialize(ARCHIVE& ar, const unsigned int /*version*/) {
+    ar& boost::serialization::make_nvp(
+        "ExpressionFactor", boost::serialization::base_object<ExpressionFactor<T> >(*this));
+  }
 };
 // ExpressionFactor2
 

gtsam/sam/BearingFactor.h

@@ -60,6 +60,14 @@ struct BearingFactor : public ExpressionFactor2<T, A1, A2> {
     std::cout << s << "BearingFactor" << std::endl;
     Base::print(s, kf);
   }
+
+ private:
+  friend class boost::serialization::access;
+  template <class ARCHIVE>
+  void serialize(ARCHIVE& ar, const unsigned int /*version*/) {
+    ar& boost::serialization::make_nvp(
+        "Base", boost::serialization::base_object<Base>(*this));
+  }
 };  // BearingFactor
 
 /// traits

gtsam/sam/BearingRangeFactor.h

@@ -73,6 +73,14 @@ class BearingRangeFactor
     Base::print(s, kf);
   }
 
+
+ private:
+  friend class boost::serialization::access;
+  template <class ARCHIVE>
+  void serialize(ARCHIVE& ar, const unsigned int /*version*/) {
+    ar& boost::serialization::make_nvp(
+        "Base", boost::serialization::base_object<Base>(*this));
+  }
 };  // BearingRangeFactor
 
 /// traits

gtsam/sam/RangeFactor.h

@@ -65,6 +65,14 @@ class RangeFactor : public ExpressionFactor2<T, A1, A2> {
     std::cout << s << "RangeFactor" << std::endl;
     Base::print(s, kf);
   }
+
+ private:
+  friend class boost::serialization::access;
+  template <class ARCHIVE>
+  void serialize(ARCHIVE& ar, const unsigned int /*version*/) {
+    ar& boost::serialization::make_nvp(
+        "Base", boost::serialization::base_object<Base>(*this));
+  }
 };  // \ RangeFactor
 
 /// traits

matlab/gtsam_tests/testJacobianFactor.m

@@ -54,7 +54,8 @@ S13 = [
 +0.00,-8.94427
 ];
 d=[2.23607;-1.56525];
-expectedCG = GaussianConditional(x2,d,R11,l1,S12,x1,S13);
+unit2 = noiseModel.Unit.Create(2);
+expectedCG = GaussianConditional(x2,d,R11,l1,S12,x1,S13,unit2);
 % check if the result matches
 CHECK('actualCG.equals(expectedCG,1e-5)',actualCG.equals(expectedCG,1e-4));
 

matlab/gtsam_tests/testSerialization.m

@@ -52,14 +52,26 @@ priorMean = Pose2(0.0, 0.0, 0.0); % prior at origin
 priorNoise = noiseModel.Diagonal.Sigmas([0.3; 0.3; 0.1]);
 graph.add(PriorFactorPose2(i1, priorMean, priorNoise)); % add directly to graph
 
-% Between Factors - FAIL: unregistered class
+% Between Factors
 odometry = Pose2(2.0, 0.0, 0.0);
 odometryNoise = noiseModel.Diagonal.Sigmas([0.2; 0.2; 0.1]);
 graph.add(BetweenFactorPose2(i1, i2, odometry, odometryNoise));
 graph.add(BetweenFactorPose2(i2, i3, odometry, odometryNoise));
  
-% BearingRange Factors - FAIL: unregistered class
+% Range Factors
+rNoise = noiseModel.Diagonal.Sigmas([0.2]);
+graph.add(RangeFactorPosePoint2(i1, j1, sqrt(4+4), rNoise));
+graph.add(RangeFactorPosePoint2(i2, j1, 2, rNoise));
+graph.add(RangeFactorPosePoint2(i3, j2, 2, rNoise));
+
+% Bearing Factors
 degrees = pi/180;
+bNoise = noiseModel.Diagonal.Sigmas([0.1]);
+graph.add(BearingFactor2D(i1, j1, Rot2(45*degrees), bNoise));
+graph.add(BearingFactor2D(i2, j1, Rot2(90*degrees), bNoise));
+graph.add(BearingFactor2D(i3, j2, Rot2(90*degrees), bNoise));
+
+% BearingRange Factors
 brNoise = noiseModel.Diagonal.Sigmas([0.1; 0.2]);
 graph.add(BearingRangeFactor2D(i1, j1, Rot2(45*degrees), sqrt(4+4), brNoise));
 graph.add(BearingRangeFactor2D(i2, j1, Rot2(90*degrees), 2, brNoise));

wrap/Module.cpp

@@ -273,9 +273,9 @@ void Module::generate_matlab_wrapper(const string& toolboxPath) const {
 
   // Include boost.serialization archive headers before other class headers
   if (hasSerialiable) {
-    wrapperFile.oss << "#include <boost/serialization/export.hpp>\n";
     wrapperFile.oss << "#include <boost/archive/text_iarchive.hpp>\n";
-    wrapperFile.oss << "#include <boost/archive/text_oarchive.hpp>\n\n";
+    wrapperFile.oss << "#include <boost/archive/text_oarchive.hpp>\n";
+    wrapperFile.oss << "#include <boost/serialization/export.hpp>\n\n";
   }
 
   // Generate includes while avoiding redundant includes

wrap/tests/expected/geometry_wrapper.cpp

@@ -1,9 +1,9 @@
 #include <wrap/matlab.h>
 #include <map>
 
-#include <boost/serialization/export.hpp>
 #include <boost/archive/text_iarchive.hpp>
 #include <boost/archive/text_oarchive.hpp>
+#include <boost/serialization/export.hpp>
 
 #include <folder/path/to/Test.h>
 #include <gtsam/geometry/Point2.h>