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convert from boost to std shared pointers

release/4.3a0
Varun Agrawal 2023-03-01 15:51:11 -05:00
parent 814c4a6e6f
commit cc9a2dc404
1 changed files with 6 additions and 4 deletions
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10
gtsam/navigation/PreintegrationCombinedParams.h
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@ -59,17 +59,17 @@ struct GTSAM_EXPORT PreintegrationCombinedParams : PreintegrationParams {
// Default Params for a Z-down navigation frame, such as NED: gravity points // Default Params for a Z-down navigation frame, such as NED: gravity points
// along positive Z-axis // along positive Z-axis
static boost::shared_ptr<PreintegrationCombinedParams> MakeSharedD( static std::shared_ptr<PreintegrationCombinedParams> MakeSharedD(
double g = 9.81) { double g = 9.81) {
return boost::shared_ptr<PreintegrationCombinedParams>( return std::shared_ptr<PreintegrationCombinedParams>(
new PreintegrationCombinedParams(Vector3(0, 0, g))); new PreintegrationCombinedParams(Vector3(0, 0, g)));
} }
// Default Params for a Z-up navigation frame, such as ENU: gravity points // Default Params for a Z-up navigation frame, such as ENU: gravity points
// along negative Z-axis // along negative Z-axis
static boost::shared_ptr<PreintegrationCombinedParams> MakeSharedU( static std::shared_ptr<PreintegrationCombinedParams> MakeSharedU(
double g = 9.81) { double g = 9.81) {
return boost::shared_ptr<PreintegrationCombinedParams>( return std::shared_ptr<PreintegrationCombinedParams>(
new PreintegrationCombinedParams(Vector3(0, 0, -g))); new PreintegrationCombinedParams(Vector3(0, 0, -g)));
} }
@ -86,6 +86,7 @@ struct GTSAM_EXPORT PreintegrationCombinedParams : PreintegrationParams {
const Matrix6& getBiasAccOmegaInit() const { return biasAccOmegaInt; } const Matrix6& getBiasAccOmegaInit() const { return biasAccOmegaInt; }
private: private:
#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
/** Serialization function */ /** Serialization function */
friend class boost::serialization::access; friend class boost::serialization::access;
template <class ARCHIVE> template <class ARCHIVE>
@ -96,6 +97,7 @@ struct GTSAM_EXPORT PreintegrationCombinedParams : PreintegrationParams {
ar& BOOST_SERIALIZATION_NVP(biasOmegaCovariance); ar& BOOST_SERIALIZATION_NVP(biasOmegaCovariance);
ar& BOOST_SERIALIZATION_NVP(biasAccOmegaInt); ar& BOOST_SERIALIZATION_NVP(biasAccOmegaInt);
} }
#endif
public: public:
GTSAM_MAKE_ALIGNED_OPERATOR_NEW GTSAM_MAKE_ALIGNED_OPERATOR_NEW