Improved serialization for noisemodel and NonlinearFactors, however currently fails on NonlinearFactorGraphs and some factors

.cproject

@@ -322,14 +322,6 @@
 						<useDefaultCommand>true</useDefaultCommand>
 						<runAllBuilders>true</runAllBuilders>
 					</target>
-					<target name="testGaussianFactor.run" path="linear/tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
-						<buildCommand>make</buildCommand>
-						<buildArguments>-j2</buildArguments>
-						<buildTarget>testGaussianFactor.run</buildTarget>
-						<stopOnError>true</stopOnError>
-						<useDefaultCommand>true</useDefaultCommand>
-						<runAllBuilders>true</runAllBuilders>
-					</target>
 					<target name="all" path="inference" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 						<buildCommand>make</buildCommand>
 						<buildArguments>-j2</buildArguments>
@@ -356,6 +348,7 @@
 					</target>
 					<target name="tests/testBayesTree.run" path="inference" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 						<buildCommand>make</buildCommand>
+						<buildArguments/>
 						<buildTarget>tests/testBayesTree.run</buildTarget>
 						<stopOnError>true</stopOnError>
 						<useDefaultCommand>false</useDefaultCommand>
@@ -363,6 +356,7 @@
 					</target>
 					<target name="testBinaryBayesNet.run" path="inference" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 						<buildCommand>make</buildCommand>
+						<buildArguments/>
 						<buildTarget>testBinaryBayesNet.run</buildTarget>
 						<stopOnError>true</stopOnError>
 						<useDefaultCommand>false</useDefaultCommand>
@@ -410,6 +404,7 @@
 					</target>
 					<target name="testSymbolicBayesNet.run" path="inference" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 						<buildCommand>make</buildCommand>
+						<buildArguments/>
 						<buildTarget>testSymbolicBayesNet.run</buildTarget>
 						<stopOnError>true</stopOnError>
 						<useDefaultCommand>false</useDefaultCommand>
@@ -417,6 +412,7 @@
 					</target>
 					<target name="tests/testSymbolicFactor.run" path="inference" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 						<buildCommand>make</buildCommand>
+						<buildArguments/>
 						<buildTarget>tests/testSymbolicFactor.run</buildTarget>
 						<stopOnError>true</stopOnError>
 						<useDefaultCommand>false</useDefaultCommand>
@@ -424,6 +420,7 @@
 					</target>
 					<target name="testSymbolicFactorGraph.run" path="inference" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 						<buildCommand>make</buildCommand>
+						<buildArguments/>
 						<buildTarget>testSymbolicFactorGraph.run</buildTarget>
 						<stopOnError>true</stopOnError>
 						<useDefaultCommand>false</useDefaultCommand>
@@ -439,11 +436,20 @@
 					</target>
 					<target name="tests/testBayesTree" path="inference" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 						<buildCommand>make</buildCommand>
+						<buildArguments/>
 						<buildTarget>tests/testBayesTree</buildTarget>
 						<stopOnError>true</stopOnError>
 						<useDefaultCommand>false</useDefaultCommand>
 						<runAllBuilders>true</runAllBuilders>
 					</target>
+					<target name="testGaussianFactor.run" path="linear/tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
+						<buildCommand>make</buildCommand>
+						<buildArguments>-j2</buildArguments>
+						<buildTarget>testGaussianFactor.run</buildTarget>
+						<stopOnError>true</stopOnError>
+						<useDefaultCommand>true</useDefaultCommand>
+						<runAllBuilders>true</runAllBuilders>
+					</target>
 					<target name="check" path="tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 						<buildCommand>make</buildCommand>
 						<buildArguments>-j2</buildArguments>
@@ -478,7 +484,6 @@
 					</target>
 					<target name="testGraph.run" path="tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 						<buildCommand>make</buildCommand>
-						<buildArguments/>
 						<buildTarget>testGraph.run</buildTarget>
 						<stopOnError>true</stopOnError>
 						<useDefaultCommand>false</useDefaultCommand>
@@ -574,7 +579,6 @@
 					</target>
 					<target name="testInference.run" path="tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 						<buildCommand>make</buildCommand>
-						<buildArguments/>
 						<buildTarget>testInference.run</buildTarget>
 						<stopOnError>true</stopOnError>
 						<useDefaultCommand>false</useDefaultCommand>
@@ -582,7 +586,6 @@
 					</target>
 					<target name="testGaussianBayesNet.run" path="tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 						<buildCommand>make</buildCommand>
-						<buildArguments/>
 						<buildTarget>testGaussianBayesNet.run</buildTarget>
 						<stopOnError>true</stopOnError>
 						<useDefaultCommand>false</useDefaultCommand>
@@ -590,7 +593,6 @@
 					</target>
 					<target name="testGaussianFactor.run" path="tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 						<buildCommand>make</buildCommand>
-						<buildArguments/>
 						<buildTarget>testGaussianFactor.run</buildTarget>
 						<stopOnError>true</stopOnError>
 						<useDefaultCommand>false</useDefaultCommand>
@@ -598,7 +600,6 @@
 					</target>
 					<target name="testJunctionTree.run" path="tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 						<buildCommand>make</buildCommand>
-						<buildArguments/>
 						<buildTarget>testJunctionTree.run</buildTarget>
 						<stopOnError>true</stopOnError>
 						<useDefaultCommand>false</useDefaultCommand>
@@ -606,7 +607,6 @@
 					</target>
 					<target name="testSymbolicBayesNet.run" path="tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 						<buildCommand>make</buildCommand>
-						<buildArguments/>
 						<buildTarget>testSymbolicBayesNet.run</buildTarget>
 						<stopOnError>true</stopOnError>
 						<useDefaultCommand>false</useDefaultCommand>
@@ -614,7 +614,6 @@
 					</target>
 					<target name="testSymbolicFactorGraph.run" path="tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 						<buildCommand>make</buildCommand>
-						<buildArguments/>
 						<buildTarget>testSymbolicFactorGraph.run</buildTarget>
 						<stopOnError>true</stopOnError>
 						<useDefaultCommand>false</useDefaultCommand>
@@ -684,6 +683,14 @@
 						<useDefaultCommand>true</useDefaultCommand>
 						<runAllBuilders>true</runAllBuilders>
 					</target>
+					<target name="tests/testPlanarSLAM.run" path="build/gtsam/slam" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
+						<buildCommand>make</buildCommand>
+						<buildArguments>-j2</buildArguments>
+						<buildTarget>tests/testPlanarSLAM.run</buildTarget>
+						<stopOnError>true</stopOnError>
+						<useDefaultCommand>true</useDefaultCommand>
+						<runAllBuilders>true</runAllBuilders>
+					</target>
 					<target name="check" path="build/geometry" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 						<buildCommand>make</buildCommand>
 						<buildArguments>-j2</buildArguments>
@@ -966,6 +973,7 @@
 					</target>
 					<target name="testErrors.run" path="linear" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 						<buildCommand>make</buildCommand>
+						<buildArguments/>
 						<buildTarget>testErrors.run</buildTarget>
 						<stopOnError>true</stopOnError>
 						<useDefaultCommand>false</useDefaultCommand>
@@ -1325,7 +1333,6 @@
 					</target>
 					<target name="testSimulated2DOriented.run" path="slam" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 						<buildCommand>make</buildCommand>
-						<buildArguments/>
 						<buildTarget>testSimulated2DOriented.run</buildTarget>
 						<stopOnError>true</stopOnError>
 						<useDefaultCommand>false</useDefaultCommand>
@@ -1365,7 +1372,6 @@
 					</target>
 					<target name="testSimulated2D.run" path="slam" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 						<buildCommand>make</buildCommand>
-						<buildArguments/>
 						<buildTarget>testSimulated2D.run</buildTarget>
 						<stopOnError>true</stopOnError>
 						<useDefaultCommand>false</useDefaultCommand>
@@ -1373,7 +1379,6 @@
 					</target>
 					<target name="testSimulated3D.run" path="slam" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 						<buildCommand>make</buildCommand>
-						<buildArguments/>
 						<buildTarget>testSimulated3D.run</buildTarget>
 						<stopOnError>true</stopOnError>
 						<useDefaultCommand>false</useDefaultCommand>
@@ -1461,7 +1466,6 @@
 					</target>
 					<target name="tests/testGaussianISAM2" path="build/slam" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 						<buildCommand>make</buildCommand>
-						<buildArguments/>
 						<buildTarget>tests/testGaussianISAM2</buildTarget>
 						<stopOnError>true</stopOnError>
 						<useDefaultCommand>false</useDefaultCommand>
@@ -1483,6 +1487,86 @@
 						<useDefaultCommand>true</useDefaultCommand>
 						<runAllBuilders>true</runAllBuilders>
 					</target>
+					<target name="install" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
+						<buildCommand>make</buildCommand>
+						<buildArguments>-j2</buildArguments>
+						<buildTarget>install</buildTarget>
+						<stopOnError>true</stopOnError>
+						<useDefaultCommand>true</useDefaultCommand>
+						<runAllBuilders>true</runAllBuilders>
+					</target>
+					<target name="clean" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
+						<buildCommand>make</buildCommand>
+						<buildArguments>-j2</buildArguments>
+						<buildTarget>clean</buildTarget>
+						<stopOnError>true</stopOnError>
+						<useDefaultCommand>true</useDefaultCommand>
+						<runAllBuilders>true</runAllBuilders>
+					</target>
+					<target name="check" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
+						<buildCommand>make</buildCommand>
+						<buildArguments>-j2</buildArguments>
+						<buildTarget>check</buildTarget>
+						<stopOnError>true</stopOnError>
+						<useDefaultCommand>true</useDefaultCommand>
+						<runAllBuilders>true</runAllBuilders>
+					</target>
+					<target name="all" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
+						<buildCommand>make</buildCommand>
+						<buildArguments>-j2</buildArguments>
+						<buildTarget>all</buildTarget>
+						<stopOnError>true</stopOnError>
+						<useDefaultCommand>true</useDefaultCommand>
+						<runAllBuilders>true</runAllBuilders>
+					</target>
+					<target name="dist" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
+						<buildCommand>make</buildCommand>
+						<buildArguments>-j2</buildArguments>
+						<buildTarget>dist</buildTarget>
+						<stopOnError>true</stopOnError>
+						<useDefaultCommand>true</useDefaultCommand>
+						<runAllBuilders>true</runAllBuilders>
+					</target>
+					<target name="inference/tests/testEliminationTree" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
+						<buildCommand>make</buildCommand>
+						<buildArguments>-j2</buildArguments>
+						<buildTarget>inference/tests/testEliminationTree</buildTarget>
+						<stopOnError>true</stopOnError>
+						<useDefaultCommand>true</useDefaultCommand>
+						<runAllBuilders>true</runAllBuilders>
+					</target>
+					<target name="slam/tests/testGaussianISAM2" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
+						<buildCommand>make</buildCommand>
+						<buildArguments>-j2</buildArguments>
+						<buildTarget>slam/tests/testGaussianISAM2</buildTarget>
+						<stopOnError>true</stopOnError>
+						<useDefaultCommand>true</useDefaultCommand>
+						<runAllBuilders>true</runAllBuilders>
+					</target>
+					<target name="inference/tests/testVariableIndex" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
+						<buildCommand>make</buildCommand>
+						<buildArguments>-j2</buildArguments>
+						<buildTarget>inference/tests/testVariableIndex</buildTarget>
+						<stopOnError>true</stopOnError>
+						<useDefaultCommand>true</useDefaultCommand>
+						<runAllBuilders>true</runAllBuilders>
+					</target>
+					<target name="inference/tests/testJunctionTree" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
+						<buildCommand>make</buildCommand>
+						<buildArguments>-j2</buildArguments>
+						<buildTarget>inference/tests/testJunctionTree</buildTarget>
+						<stopOnError>true</stopOnError>
+						<useDefaultCommand>true</useDefaultCommand>
+						<runAllBuilders>true</runAllBuilders>
+					</target>
+					<target name="linear/tests/testGaussianJunctionTree" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
+						<buildCommand>make</buildCommand>
+						<buildArguments>-j2</buildArguments>
+						<buildTarget>linear/tests/testGaussianJunctionTree</buildTarget>
+						<stopOnError>true</stopOnError>
+						<useDefaultCommand>true</useDefaultCommand>
+						<runAllBuilders>true</runAllBuilders>
+					</target>
 					<target name="testRot3.run" path="geometry" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 						<buildCommand>make</buildCommand>
 						<buildArguments>-j2</buildArguments>
@@ -1579,94 +1663,6 @@
 						<useDefaultCommand>true</useDefaultCommand>
 						<runAllBuilders>true</runAllBuilders>
 					</target>
-					<target name="install" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
-						<buildCommand>make</buildCommand>
-						<buildArguments>-j2</buildArguments>
-						<buildTarget>install</buildTarget>
-						<stopOnError>true</stopOnError>
-						<useDefaultCommand>true</useDefaultCommand>
-						<runAllBuilders>true</runAllBuilders>
-					</target>
-					<target name="clean" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
-						<buildCommand>make</buildCommand>
-						<buildArguments>-j2</buildArguments>
-						<buildTarget>clean</buildTarget>
-						<stopOnError>true</stopOnError>
-						<useDefaultCommand>true</useDefaultCommand>
-						<runAllBuilders>true</runAllBuilders>
-					</target>
-					<target name="check" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
-						<buildCommand>make</buildCommand>
-						<buildArguments>-j2</buildArguments>
-						<buildTarget>check</buildTarget>
-						<stopOnError>true</stopOnError>
-						<useDefaultCommand>true</useDefaultCommand>
-						<runAllBuilders>true</runAllBuilders>
-					</target>
-					<target name="all" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
-						<buildCommand>make</buildCommand>
-						<buildArguments>-j2</buildArguments>
-						<buildTarget>all</buildTarget>
-						<stopOnError>true</stopOnError>
-						<useDefaultCommand>true</useDefaultCommand>
-						<runAllBuilders>true</runAllBuilders>
-					</target>
-					<target name="dist" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
-						<buildCommand>make</buildCommand>
-						<buildArguments>-j2</buildArguments>
-						<buildTarget>dist</buildTarget>
-						<stopOnError>true</stopOnError>
-						<useDefaultCommand>true</useDefaultCommand>
-						<runAllBuilders>true</runAllBuilders>
-					</target>
-					<target name="inference/tests/testEliminationTree" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
-						<buildCommand>make</buildCommand>
-						<buildArguments>-j2</buildArguments>
-						<buildTarget>inference/tests/testEliminationTree</buildTarget>
-						<stopOnError>true</stopOnError>
-						<useDefaultCommand>true</useDefaultCommand>
-						<runAllBuilders>true</runAllBuilders>
-					</target>
-					<target name="slam/tests/testGaussianISAM2" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
-						<buildCommand>make</buildCommand>
-						<buildArguments>-j2</buildArguments>
-						<buildTarget>slam/tests/testGaussianISAM2</buildTarget>
-						<stopOnError>true</stopOnError>
-						<useDefaultCommand>true</useDefaultCommand>
-						<runAllBuilders>true</runAllBuilders>
-					</target>
-					<target name="inference/tests/testVariableIndex" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
-						<buildCommand>make</buildCommand>
-						<buildArguments>-j2</buildArguments>
-						<buildTarget>inference/tests/testVariableIndex</buildTarget>
-						<stopOnError>true</stopOnError>
-						<useDefaultCommand>true</useDefaultCommand>
-						<runAllBuilders>true</runAllBuilders>
-					</target>
-					<target name="inference/tests/testJunctionTree" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
-						<buildCommand>make</buildCommand>
-						<buildArguments>-j2</buildArguments>
-						<buildTarget>inference/tests/testJunctionTree</buildTarget>
-						<stopOnError>true</stopOnError>
-						<useDefaultCommand>true</useDefaultCommand>
-						<runAllBuilders>true</runAllBuilders>
-					</target>
-					<target name="linear/tests/testGaussianJunctionTree" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
-						<buildCommand>make</buildCommand>
-						<buildArguments>-j2</buildArguments>
-						<buildTarget>linear/tests/testGaussianJunctionTree</buildTarget>
-						<stopOnError>true</stopOnError>
-						<useDefaultCommand>true</useDefaultCommand>
-						<runAllBuilders>true</runAllBuilders>
-					</target>
-					<target name="check" path="build/wrap" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
-						<buildCommand>make</buildCommand>
-						<buildArguments>-j2</buildArguments>
-						<buildTarget>check</buildTarget>
-						<stopOnError>true</stopOnError>
-						<useDefaultCommand>true</useDefaultCommand>
-						<runAllBuilders>true</runAllBuilders>
-					</target>
 					<target name="check" path="build" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 						<buildCommand>make</buildCommand>
 						<buildArguments>-j2</buildArguments>
@@ -1699,6 +1695,14 @@
 						<useDefaultCommand>true</useDefaultCommand>
 						<runAllBuilders>true</runAllBuilders>
 					</target>
+					<target name="check" path="build/wrap" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
+						<buildCommand>make</buildCommand>
+						<buildArguments>-j2</buildArguments>
+						<buildTarget>check</buildTarget>
+						<stopOnError>true</stopOnError>
+						<useDefaultCommand>true</useDefaultCommand>
+						<runAllBuilders>true</runAllBuilders>
+					</target>
 				</buildTargets>
 			</storageModule>
 		</cconfiguration>
@@ -2021,14 +2025,6 @@
 						<useDefaultCommand>true</useDefaultCommand>
 						<runAllBuilders>true</runAllBuilders>
 					</target>
-					<target name="testGaussianFactor.run" path="linear/tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
-						<buildCommand>make</buildCommand>
-						<buildArguments>-j2</buildArguments>
-						<buildTarget>testGaussianFactor.run</buildTarget>
-						<stopOnError>true</stopOnError>
-						<useDefaultCommand>true</useDefaultCommand>
-						<runAllBuilders>true</runAllBuilders>
-					</target>
 					<target name="all" path="inference" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 						<buildCommand>make</buildCommand>
 						<buildArguments>-j2</buildArguments>
@@ -2055,6 +2051,7 @@
 					</target>
 					<target name="tests/testBayesTree.run" path="inference" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 						<buildCommand>make</buildCommand>
+						<buildArguments/>
 						<buildTarget>tests/testBayesTree.run</buildTarget>
 						<stopOnError>true</stopOnError>
 						<useDefaultCommand>false</useDefaultCommand>
@@ -2062,6 +2059,7 @@
 					</target>
 					<target name="testBinaryBayesNet.run" path="inference" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 						<buildCommand>make</buildCommand>
+						<buildArguments/>
 						<buildTarget>testBinaryBayesNet.run</buildTarget>
 						<stopOnError>true</stopOnError>
 						<useDefaultCommand>false</useDefaultCommand>
@@ -2109,6 +2107,7 @@
 					</target>
 					<target name="testSymbolicBayesNet.run" path="inference" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 						<buildCommand>make</buildCommand>
+						<buildArguments/>
 						<buildTarget>testSymbolicBayesNet.run</buildTarget>
 						<stopOnError>true</stopOnError>
 						<useDefaultCommand>false</useDefaultCommand>
@@ -2116,6 +2115,7 @@
 					</target>
 					<target name="tests/testSymbolicFactor.run" path="inference" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 						<buildCommand>make</buildCommand>
+						<buildArguments/>
 						<buildTarget>tests/testSymbolicFactor.run</buildTarget>
 						<stopOnError>true</stopOnError>
 						<useDefaultCommand>false</useDefaultCommand>
@@ -2123,6 +2123,7 @@
 					</target>
 					<target name="testSymbolicFactorGraph.run" path="inference" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 						<buildCommand>make</buildCommand>
+						<buildArguments/>
 						<buildTarget>testSymbolicFactorGraph.run</buildTarget>
 						<stopOnError>true</stopOnError>
 						<useDefaultCommand>false</useDefaultCommand>
@@ -2138,11 +2139,20 @@
 					</target>
 					<target name="tests/testBayesTree" path="inference" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 						<buildCommand>make</buildCommand>
+						<buildArguments/>
 						<buildTarget>tests/testBayesTree</buildTarget>
 						<stopOnError>true</stopOnError>
 						<useDefaultCommand>false</useDefaultCommand>
 						<runAllBuilders>true</runAllBuilders>
 					</target>
+					<target name="testGaussianFactor.run" path="linear/tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
+						<buildCommand>make</buildCommand>
+						<buildArguments>-j2</buildArguments>
+						<buildTarget>testGaussianFactor.run</buildTarget>
+						<stopOnError>true</stopOnError>
+						<useDefaultCommand>true</useDefaultCommand>
+						<runAllBuilders>true</runAllBuilders>
+					</target>
 					<target name="check" path="tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 						<buildCommand>make</buildCommand>
 						<buildArguments>-j2</buildArguments>
@@ -2177,7 +2187,6 @@
 					</target>
 					<target name="testGraph.run" path="tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 						<buildCommand>make</buildCommand>
-						<buildArguments/>
 						<buildTarget>testGraph.run</buildTarget>
 						<stopOnError>true</stopOnError>
 						<useDefaultCommand>false</useDefaultCommand>
@@ -2273,7 +2282,6 @@
 					</target>
 					<target name="testInference.run" path="tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 						<buildCommand>make</buildCommand>
-						<buildArguments/>
 						<buildTarget>testInference.run</buildTarget>
 						<stopOnError>true</stopOnError>
 						<useDefaultCommand>false</useDefaultCommand>
@@ -2281,7 +2289,6 @@
 					</target>
 					<target name="testGaussianBayesNet.run" path="tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 						<buildCommand>make</buildCommand>
-						<buildArguments/>
 						<buildTarget>testGaussianBayesNet.run</buildTarget>
 						<stopOnError>true</stopOnError>
 						<useDefaultCommand>false</useDefaultCommand>
@@ -2289,7 +2296,6 @@
 					</target>
 					<target name="testGaussianFactor.run" path="tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 						<buildCommand>make</buildCommand>
-						<buildArguments/>
 						<buildTarget>testGaussianFactor.run</buildTarget>
 						<stopOnError>true</stopOnError>
 						<useDefaultCommand>false</useDefaultCommand>
@@ -2297,7 +2303,6 @@
 					</target>
 					<target name="testJunctionTree.run" path="tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 						<buildCommand>make</buildCommand>
-						<buildArguments/>
 						<buildTarget>testJunctionTree.run</buildTarget>
 						<stopOnError>true</stopOnError>
 						<useDefaultCommand>false</useDefaultCommand>
@@ -2305,7 +2310,6 @@
 					</target>
 					<target name="testSymbolicBayesNet.run" path="tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 						<buildCommand>make</buildCommand>
-						<buildArguments/>
 						<buildTarget>testSymbolicBayesNet.run</buildTarget>
 						<stopOnError>true</stopOnError>
 						<useDefaultCommand>false</useDefaultCommand>
@@ -2313,7 +2317,6 @@
 					</target>
 					<target name="testSymbolicFactorGraph.run" path="tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 						<buildCommand>make</buildCommand>
-						<buildArguments/>
 						<buildTarget>testSymbolicFactorGraph.run</buildTarget>
 						<stopOnError>true</stopOnError>
 						<useDefaultCommand>false</useDefaultCommand>
@@ -2383,6 +2386,14 @@
 						<useDefaultCommand>true</useDefaultCommand>
 						<runAllBuilders>true</runAllBuilders>
 					</target>
+					<target name="tests/testPlanarSLAM.run" path="build/gtsam/slam" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
+						<buildCommand>make</buildCommand>
+						<buildArguments>-j2</buildArguments>
+						<buildTarget>tests/testPlanarSLAM.run</buildTarget>
+						<stopOnError>true</stopOnError>
+						<useDefaultCommand>true</useDefaultCommand>
+						<runAllBuilders>true</runAllBuilders>
+					</target>
 					<target name="check" path="build/geometry" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 						<buildCommand>make</buildCommand>
 						<buildArguments>-j2</buildArguments>
@@ -2665,6 +2676,7 @@
 					</target>
 					<target name="testErrors.run" path="linear" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 						<buildCommand>make</buildCommand>
+						<buildArguments/>
 						<buildTarget>testErrors.run</buildTarget>
 						<stopOnError>true</stopOnError>
 						<useDefaultCommand>false</useDefaultCommand>
@@ -3024,7 +3036,6 @@
 					</target>
 					<target name="testSimulated2DOriented.run" path="slam" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 						<buildCommand>make</buildCommand>
-						<buildArguments/>
 						<buildTarget>testSimulated2DOriented.run</buildTarget>
 						<stopOnError>true</stopOnError>
 						<useDefaultCommand>false</useDefaultCommand>
@@ -3064,7 +3075,6 @@
 					</target>
 					<target name="testSimulated2D.run" path="slam" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 						<buildCommand>make</buildCommand>
-						<buildArguments/>
 						<buildTarget>testSimulated2D.run</buildTarget>
 						<stopOnError>true</stopOnError>
 						<useDefaultCommand>false</useDefaultCommand>
@@ -3072,7 +3082,6 @@
 					</target>
 					<target name="testSimulated3D.run" path="slam" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 						<buildCommand>make</buildCommand>
-						<buildArguments/>
 						<buildTarget>testSimulated3D.run</buildTarget>
 						<stopOnError>true</stopOnError>
 						<useDefaultCommand>false</useDefaultCommand>
@@ -3160,7 +3169,6 @@
 					</target>
 					<target name="tests/testGaussianISAM2" path="build/slam" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 						<buildCommand>make</buildCommand>
-						<buildArguments/>
 						<buildTarget>tests/testGaussianISAM2</buildTarget>
 						<stopOnError>true</stopOnError>
 						<useDefaultCommand>false</useDefaultCommand>
@@ -3182,6 +3190,86 @@
 						<useDefaultCommand>true</useDefaultCommand>
 						<runAllBuilders>true</runAllBuilders>
 					</target>
+					<target name="install" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
+						<buildCommand>make</buildCommand>
+						<buildArguments>-j2</buildArguments>
+						<buildTarget>install</buildTarget>
+						<stopOnError>true</stopOnError>
+						<useDefaultCommand>true</useDefaultCommand>
+						<runAllBuilders>true</runAllBuilders>
+					</target>
+					<target name="clean" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
+						<buildCommand>make</buildCommand>
+						<buildArguments>-j2</buildArguments>
+						<buildTarget>clean</buildTarget>
+						<stopOnError>true</stopOnError>
+						<useDefaultCommand>true</useDefaultCommand>
+						<runAllBuilders>true</runAllBuilders>
+					</target>
+					<target name="check" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
+						<buildCommand>make</buildCommand>
+						<buildArguments>-j2</buildArguments>
+						<buildTarget>check</buildTarget>
+						<stopOnError>true</stopOnError>
+						<useDefaultCommand>true</useDefaultCommand>
+						<runAllBuilders>true</runAllBuilders>
+					</target>
+					<target name="all" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
+						<buildCommand>make</buildCommand>
+						<buildArguments>-j2</buildArguments>
+						<buildTarget>all</buildTarget>
+						<stopOnError>true</stopOnError>
+						<useDefaultCommand>true</useDefaultCommand>
+						<runAllBuilders>true</runAllBuilders>
+					</target>
+					<target name="dist" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
+						<buildCommand>make</buildCommand>
+						<buildArguments>-j2</buildArguments>
+						<buildTarget>dist</buildTarget>
+						<stopOnError>true</stopOnError>
+						<useDefaultCommand>true</useDefaultCommand>
+						<runAllBuilders>true</runAllBuilders>
+					</target>
+					<target name="inference/tests/testEliminationTree" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
+						<buildCommand>make</buildCommand>
+						<buildArguments>-j2</buildArguments>
+						<buildTarget>inference/tests/testEliminationTree</buildTarget>
+						<stopOnError>true</stopOnError>
+						<useDefaultCommand>true</useDefaultCommand>
+						<runAllBuilders>true</runAllBuilders>
+					</target>
+					<target name="slam/tests/testGaussianISAM2" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
+						<buildCommand>make</buildCommand>
+						<buildArguments>-j2</buildArguments>
+						<buildTarget>slam/tests/testGaussianISAM2</buildTarget>
+						<stopOnError>true</stopOnError>
+						<useDefaultCommand>true</useDefaultCommand>
+						<runAllBuilders>true</runAllBuilders>
+					</target>
+					<target name="inference/tests/testVariableIndex" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
+						<buildCommand>make</buildCommand>
+						<buildArguments>-j2</buildArguments>
+						<buildTarget>inference/tests/testVariableIndex</buildTarget>
+						<stopOnError>true</stopOnError>
+						<useDefaultCommand>true</useDefaultCommand>
+						<runAllBuilders>true</runAllBuilders>
+					</target>
+					<target name="inference/tests/testJunctionTree" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
+						<buildCommand>make</buildCommand>
+						<buildArguments>-j2</buildArguments>
+						<buildTarget>inference/tests/testJunctionTree</buildTarget>
+						<stopOnError>true</stopOnError>
+						<useDefaultCommand>true</useDefaultCommand>
+						<runAllBuilders>true</runAllBuilders>
+					</target>
+					<target name="linear/tests/testGaussianJunctionTree" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
+						<buildCommand>make</buildCommand>
+						<buildArguments>-j2</buildArguments>
+						<buildTarget>linear/tests/testGaussianJunctionTree</buildTarget>
+						<stopOnError>true</stopOnError>
+						<useDefaultCommand>true</useDefaultCommand>
+						<runAllBuilders>true</runAllBuilders>
+					</target>
 					<target name="testRot3.run" path="geometry" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 						<buildCommand>make</buildCommand>
 						<buildArguments>-j2</buildArguments>
@@ -3278,94 +3366,6 @@
 						<useDefaultCommand>true</useDefaultCommand>
 						<runAllBuilders>true</runAllBuilders>
 					</target>
-					<target name="install" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
-						<buildCommand>make</buildCommand>
-						<buildArguments>-j2</buildArguments>
-						<buildTarget>install</buildTarget>
-						<stopOnError>true</stopOnError>
-						<useDefaultCommand>true</useDefaultCommand>
-						<runAllBuilders>true</runAllBuilders>
-					</target>
-					<target name="clean" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
-						<buildCommand>make</buildCommand>
-						<buildArguments>-j2</buildArguments>
-						<buildTarget>clean</buildTarget>
-						<stopOnError>true</stopOnError>
-						<useDefaultCommand>true</useDefaultCommand>
-						<runAllBuilders>true</runAllBuilders>
-					</target>
-					<target name="check" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
-						<buildCommand>make</buildCommand>
-						<buildArguments>-j2</buildArguments>
-						<buildTarget>check</buildTarget>
-						<stopOnError>true</stopOnError>
-						<useDefaultCommand>true</useDefaultCommand>
-						<runAllBuilders>true</runAllBuilders>
-					</target>
-					<target name="all" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
-						<buildCommand>make</buildCommand>
-						<buildArguments>-j2</buildArguments>
-						<buildTarget>all</buildTarget>
-						<stopOnError>true</stopOnError>
-						<useDefaultCommand>true</useDefaultCommand>
-						<runAllBuilders>true</runAllBuilders>
-					</target>
-					<target name="dist" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
-						<buildCommand>make</buildCommand>
-						<buildArguments>-j2</buildArguments>
-						<buildTarget>dist</buildTarget>
-						<stopOnError>true</stopOnError>
-						<useDefaultCommand>true</useDefaultCommand>
-						<runAllBuilders>true</runAllBuilders>
-					</target>
-					<target name="inference/tests/testEliminationTree" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
-						<buildCommand>make</buildCommand>
-						<buildArguments>-j2</buildArguments>
-						<buildTarget>inference/tests/testEliminationTree</buildTarget>
-						<stopOnError>true</stopOnError>
-						<useDefaultCommand>true</useDefaultCommand>
-						<runAllBuilders>true</runAllBuilders>
-					</target>
-					<target name="slam/tests/testGaussianISAM2" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
-						<buildCommand>make</buildCommand>
-						<buildArguments>-j2</buildArguments>
-						<buildTarget>slam/tests/testGaussianISAM2</buildTarget>
-						<stopOnError>true</stopOnError>
-						<useDefaultCommand>true</useDefaultCommand>
-						<runAllBuilders>true</runAllBuilders>
-					</target>
-					<target name="inference/tests/testVariableIndex" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
-						<buildCommand>make</buildCommand>
-						<buildArguments>-j2</buildArguments>
-						<buildTarget>inference/tests/testVariableIndex</buildTarget>
-						<stopOnError>true</stopOnError>
-						<useDefaultCommand>true</useDefaultCommand>
-						<runAllBuilders>true</runAllBuilders>
-					</target>
-					<target name="inference/tests/testJunctionTree" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
-						<buildCommand>make</buildCommand>
-						<buildArguments>-j2</buildArguments>
-						<buildTarget>inference/tests/testJunctionTree</buildTarget>
-						<stopOnError>true</stopOnError>
-						<useDefaultCommand>true</useDefaultCommand>
-						<runAllBuilders>true</runAllBuilders>
-					</target>
-					<target name="linear/tests/testGaussianJunctionTree" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
-						<buildCommand>make</buildCommand>
-						<buildArguments>-j2</buildArguments>
-						<buildTarget>linear/tests/testGaussianJunctionTree</buildTarget>
-						<stopOnError>true</stopOnError>
-						<useDefaultCommand>true</useDefaultCommand>
-						<runAllBuilders>true</runAllBuilders>
-					</target>
-					<target name="check" path="build/wrap" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
-						<buildCommand>make</buildCommand>
-						<buildArguments>-j2</buildArguments>
-						<buildTarget>check</buildTarget>
-						<stopOnError>true</stopOnError>
-						<useDefaultCommand>true</useDefaultCommand>
-						<runAllBuilders>true</runAllBuilders>
-					</target>
 					<target name="check" path="build" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 						<buildCommand>make</buildCommand>
 						<buildArguments>-j2</buildArguments>
@@ -3398,6 +3398,14 @@
 						<useDefaultCommand>true</useDefaultCommand>
 						<runAllBuilders>true</runAllBuilders>
 					</target>
+					<target name="check" path="build/wrap" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
+						<buildCommand>make</buildCommand>
+						<buildArguments>-j2</buildArguments>
+						<buildTarget>check</buildTarget>
+						<stopOnError>true</stopOnError>
+						<useDefaultCommand>true</useDefaultCommand>
+						<runAllBuilders>true</runAllBuilders>
+					</target>
 				</buildTargets>
 			</storageModule>
 		</cconfiguration>

gtsam/linear/NoiseModel.h

@@ -30,6 +30,12 @@ namespace gtsam {
 
 	namespace noiseModel {
 
+		class Gaussian;
+		class Diagonal;
+		class Constrained;
+		class Isotropic;
+		class Unit;
+
 		/**
 		 * noiseModel::Base is the abstract base class for all noise models.
 		 *
@@ -389,6 +395,9 @@ namespace gtsam {
 
 		public:
 
+			/* dummy constructor to allow for serialization */
+			Isotropic() : Diagonal(repeat(1, 1.0)),sigma_(1.0),invsigma_(1.0) {}
+
 			typedef boost::shared_ptr<Isotropic> shared_ptr;
 
 			/**
@@ -447,7 +456,7 @@ namespace gtsam {
 		class Unit : public Isotropic {
 		protected:
 
-			Unit(size_t dim): Isotropic(dim,1.0) {}
+			Unit(size_t dim=1): Isotropic(dim,1.0) {}
 
 		public:
 

gtsam/linear/SharedGaussian.h

@@ -70,6 +70,12 @@ namespace gtsam { // note, deliberately not in noiseModel namespace
 		friend class boost::serialization::access;
 		template<class ARCHIVE>
 		void serialize(ARCHIVE & ar, const unsigned int version) {
+			// apparently requires that subclasses be registered?
+			ar.template register_type<noiseModel::Gaussian>();
+			ar.template register_type<noiseModel::Diagonal>();
+			ar.template register_type<noiseModel::Constrained>();
+			ar.template register_type<noiseModel::Isotropic>();
+			ar.template register_type<noiseModel::Unit>();
 			ar & boost::serialization::make_nvp("SharedGaussian",
 			        boost::serialization::base_object<noiseModel::Gaussian::shared_ptr >(*this));
 		}

gtsam/nonlinear/NonlinearEquality.h

@@ -67,6 +67,9 @@ namespace gtsam {
 
 		typedef NonlinearFactor1<VALUES, KEY> Base;
 
+		/** default constructor - only for serialization */
+		NonlinearEquality() {}
+
 		/**
 		 * Constructor - forces exact evaluation
 		 */
@@ -134,6 +137,19 @@ namespace gtsam {
 			return JacobianFactor::shared_ptr(new JacobianFactor(ordering[this->key_], A, b, model));
 		}
 
+	private:
+
+		/** Serialization function */
+		friend class boost::serialization::access;
+		template<class ARCHIVE>
+		void serialize(ARCHIVE & ar, const unsigned int version) {
+			ar & boost::serialization::make_nvp("NonlinearFactor1",
+					boost::serialization::base_object<Base>(*this));
+			ar & BOOST_SERIALIZATION_NVP(feasible_);
+			ar & BOOST_SERIALIZATION_NVP(allow_error_);
+			ar & BOOST_SERIALIZATION_NVP(error_gain_);
+		}
+
 	}; // NonlinearEquality
 
 } // namespace gtsam

gtsam/slam/BearingFactor.h

@@ -32,11 +32,15 @@ namespace gtsam {
 
 		Rot2 z_; /** measurement */
 
+		typedef BearingFactor<VALUES, POSEKEY, POINTKEY> This;
 		typedef NonlinearFactor2<VALUES, POSEKEY, POINTKEY> Base;
 
 	public:
 
-		BearingFactor(); /* Default constructor */
+		/** default constructor for serialization/testing only */
+		BearingFactor() {}
+
+		/** primary constructor */
 		BearingFactor(const POSEKEY& i, const POINTKEY& j, const Rot2& z,
 				const SharedGaussian& model) :
 					Base(model, i, j), z_(z) {
@@ -54,6 +58,23 @@ namespace gtsam {
 			return z_;
 		}
 
+		/** equals */
+		virtual bool equals(const NonlinearFactor<VALUES>& expected, double tol=1e-9) const {
+			const This *e =	dynamic_cast<const This*> (&expected);
+			return e != NULL && Base::equals(*e, tol) && this->z_.equals(e->z_, tol);
+		}
+
+	private:
+
+		/** Serialization function */
+		friend class boost::serialization::access;
+		template<class ARCHIVE>
+		void serialize(ARCHIVE & ar, const unsigned int version) {
+			ar & boost::serialization::make_nvp("NonlinearFactor2",
+					boost::serialization::base_object<Base>(*this));
+			ar & BOOST_SERIALIZATION_NVP(z_);
+		}
+
 	}; // BearingFactor
 
 } // namespace gtsam

gtsam/slam/BearingRangeFactor.h

@@ -35,11 +35,12 @@ namespace gtsam {
 		Rot2 bearing_;
 		double range_;
 
+		typedef BearingRangeFactor<VALUES, POSEKEY, POINTKEY> This;
 		typedef NonlinearFactor2<VALUES, POSEKEY, POINTKEY> Base;
 
 	public:
 
-		BearingRangeFactor(); /* Default constructor */
+		BearingRangeFactor() {} /* Default constructor */
 		BearingRangeFactor(const POSEKEY& i, const POINTKEY& j, const Rot2& bearing, const double range,
 				const SharedGaussian& model) :
 					Base(model, i, j), bearing_(bearing), range_(range) {
@@ -69,6 +70,26 @@ namespace gtsam {
 		inline const std::pair<Rot2, double> measured() const {
 			return std::make_pair(bearing_, range_);
 		}
+
+		/** equals */
+		virtual bool equals(const NonlinearFactor<VALUES>& expected, double tol=1e-9) const {
+			const This *e =	dynamic_cast<const This*> (&expected);
+			return e != NULL && Base::equals(*e, tol) &&
+					fabs(this->range_ - e->range_) < tol &&
+					this->bearing_.equals(e->bearing_, tol);
+		}
+
+	private:
+
+		/** Serialization function */
+		friend class boost::serialization::access;
+		template<class ARCHIVE>
+		void serialize(ARCHIVE & ar, const unsigned int version) {
+			ar & boost::serialization::make_nvp("NonlinearFactor2",
+					boost::serialization::base_object<Base>(*this));
+			ar & BOOST_SERIALIZATION_NVP(bearing_);
+			ar & BOOST_SERIALIZATION_NVP(range_);
+		}
 	}; // BearingRangeFactor
 
 } // namespace gtsam

gtsam/slam/BetweenFactor.h

@@ -38,6 +38,7 @@ namespace gtsam {
 
 	private:
 
+		typedef BetweenFactor<VALUES, KEY1, KEY2> This;
 		typedef NonlinearFactor2<VALUES, KEY1, KEY2> Base;
 
 		T measured_; /** The measurement */
@@ -47,6 +48,9 @@ namespace gtsam {
 		// shorthand for a smart pointer to a factor
 		typedef typename boost::shared_ptr<BetweenFactor> shared_ptr;
 
+		/** default constructor - only use for serialization */
+		BetweenFactor() {}
+
 		/** Constructor */
 		BetweenFactor(const KEY1& key1, const KEY2& key2, const T& measured,
 				const SharedGaussian& model) :
@@ -62,9 +66,8 @@ namespace gtsam {
 		}
 
 		/** equals */
-		virtual bool equals(const NonlinearFactor<VALUES>& expected, double tol) const {
+		virtual bool equals(const NonlinearFactor<VALUES>& expected, double tol=1e-9) const {
-			const BetweenFactor<VALUES, KEY1, KEY2> *e =
+			const This *e =	dynamic_cast<const This*> (&expected);
-					dynamic_cast<const BetweenFactor<VALUES, KEY1, KEY2>*> (&expected);
 			return e != NULL && Base::equals(*e, tol) && this->measured_.equals(e->measured_, tol);
 		}
 
@@ -87,6 +90,17 @@ namespace gtsam {
 		inline std::size_t size() const {
 			return 2;
 		}
+
+	private:
+
+		/** Serialization function */
+		friend class boost::serialization::access;
+		template<class ARCHIVE>
+		void serialize(ARCHIVE & ar, const unsigned int version) {
+			ar & boost::serialization::make_nvp("NonlinearFactor2",
+					boost::serialization::base_object<Base>(*this));
+			ar & BOOST_SERIALIZATION_NVP(measured_);
+		}
 	};
 
 } /// namespace gtsam

gtsam/slam/PriorFactor.h

@@ -48,6 +48,9 @@ namespace gtsam {
 		// shorthand for a smart pointer to a factor
 		typedef typename boost::shared_ptr<PriorFactor> shared_ptr;
 
+		/** default constructor - only use for serialization */
+		PriorFactor() {}
+
 		/** Constructor */
 		PriorFactor(const KEY& key, const T& prior,
 				const SharedGaussian& model) :
@@ -63,7 +66,7 @@ namespace gtsam {
 		}
 
 		/** equals */
-		virtual bool equals(const NonlinearFactor<VALUES>& expected, double tol) const {
+		virtual bool equals(const NonlinearFactor<VALUES>& expected, double tol=1e-9) const {
 			const PriorFactor<VALUES, KEY> *e = dynamic_cast<const PriorFactor<
 					VALUES, KEY>*> (&expected);
 			return e != NULL && Base::equals(*e, tol) && this->prior_.equals(e->prior_, tol);
@@ -77,6 +80,17 @@ namespace gtsam {
 			// manifold equivalent of h(x)-z -> log(z,h(x))
 			return prior_.logmap(p);
 		}
+
+	private:
+
+		/** Serialization function */
+		friend class boost::serialization::access;
+		template<class ARCHIVE>
+		void serialize(ARCHIVE & ar, const unsigned int version) {
+			ar & boost::serialization::make_nvp("NonlinearFactor1",
+					boost::serialization::base_object<Base>(*this));
+			ar & BOOST_SERIALIZATION_NVP(prior_);
+		}
 	};
 
 } /// namespace gtsam

gtsam/slam/RangeFactor.h

@@ -25,19 +25,20 @@ namespace gtsam {
 	/**
 	 * Binary factor for a range measurement
 	 */
-	template<class Values, class PoseKey, class PointKey>
+	template<class VALUES, class POSEKEY, class POINTKEY>
-	class RangeFactor: public NonlinearFactor2<Values, PoseKey, PointKey> {
+	class RangeFactor: public NonlinearFactor2<VALUES, POSEKEY, POINTKEY> {
 	private:
 
 		double z_; /** measurement */
 
-		typedef NonlinearFactor2<Values, PoseKey, PointKey> Base;
+		typedef RangeFactor<VALUES, POSEKEY, POINTKEY> This;
+		typedef NonlinearFactor2<VALUES, POSEKEY, POINTKEY> Base;
 
 	public:
 
-		RangeFactor(); /* Default constructor */
+		RangeFactor() {} /* Default constructor */
 
-		RangeFactor(const PoseKey& i, const PointKey& j, double z,
+		RangeFactor(const POSEKEY& i, const POINTKEY& j, double z,
 				const SharedGaussian& model) :
 					Base(model, i, j), z_(z) {
 		}
@@ -53,6 +54,23 @@ namespace gtsam {
 		inline double measured() const {
 			return z_;
 		}
+
+		/** equals specialized to this factor */
+		virtual bool equals(const NonlinearFactor<VALUES>& expected, double tol=1e-9) const {
+			const This *e = dynamic_cast<const This*> (&expected);
+			return e != NULL && Base::equals(*e, tol) && fabs(this->z_ - e->z_) < tol;
+		}
+
+	private:
+
+		/** Serialization function */
+		friend class boost::serialization::access;
+		template<class ARCHIVE>
+		void serialize(ARCHIVE & ar, const unsigned int version) {
+			ar & boost::serialization::make_nvp("NonlinearFactor2",
+					boost::serialization::base_object<Base>(*this));
+			ar & BOOST_SERIALIZATION_NVP(z_);
+		}
 	}; // RangeFactor
 
 } // namespace gtsam

gtsam/slam/tests/testPlanarSLAM.cpp

@@ -17,6 +17,7 @@
 #include <iostream>
 #include <CppUnitLite/TestHarness.h>
 
+#include <gtsam/base/TestableAssertions.h>
 #include <gtsam/slam/planarSLAM.h>
 #include <gtsam/slam/BearingRangeFactor.h>
 
@@ -32,6 +33,15 @@ SharedGaussian
 	sigma2(noiseModel::Isotropic::Sigma(2,0.1)),
 	I3(noiseModel::Unit::Create(3));
 
+/* ************************************************************************* */
+TEST( planarSLAM, PriorFactor_equals )
+{
+	planarSLAM::Prior factor1(2, x1, I3), factor2(2, x2, I3);
+	EXPECT(assert_equal(factor1, factor1, 1e-5));
+	EXPECT(assert_equal(factor2, factor2, 1e-5));
+	EXPECT(assert_inequal(factor1, factor2, 1e-5));
+}
+
 /* ************************************************************************* */
 TEST( planarSLAM, BearingFactor )
 {
@@ -46,7 +56,18 @@ TEST( planarSLAM, BearingFactor )
 
 	// Check error
 	Vector actual = factor.unwhitenedError(c);
-	CHECK(assert_equal(Vector_(1,-0.1),actual));
+	EXPECT(assert_equal(Vector_(1,-0.1),actual));
+}
+
+/* ************************************************************************* */
+TEST( planarSLAM, BearingFactor_equals )
+{
+	planarSLAM::Bearing
+		factor1(2, 3, Rot2::fromAngle(0.1), sigma),
+		factor2(2, 3, Rot2::fromAngle(2.3), sigma);
+	EXPECT(assert_equal(factor1, factor1, 1e-5));
+	EXPECT(assert_equal(factor2, factor2, 1e-5));
+	EXPECT(assert_inequal(factor1, factor2, 1e-5));
 }
 
 /* ************************************************************************* */
@@ -63,7 +84,16 @@ TEST( planarSLAM, RangeFactor )
 
 	// Check error
 	Vector actual = factor.unwhitenedError(c);
-	CHECK(assert_equal(Vector_(1,0.22),actual));
+	EXPECT(assert_equal(Vector_(1,0.22),actual));
+}
+
+/* ************************************************************************* */
+TEST( planarSLAM, RangeFactor_equals )
+{
+	planarSLAM::Range factor1(2, 3, 1.2, sigma), factor2(2, 3, 7.2, sigma);
+	EXPECT(assert_equal(factor1, factor1, 1e-5));
+	EXPECT(assert_equal(factor2, factor2, 1e-5));
+	EXPECT(assert_inequal(factor1, factor2, 1e-5));
 }
 
 /* ************************************************************************* */
@@ -81,7 +111,27 @@ TEST( planarSLAM, BearingRangeFactor )
 
 	// Check error
 	Vector actual = factor.unwhitenedError(c);
-	CHECK(assert_equal(Vector_(2,-0.1, 0.22),actual));
+	EXPECT(assert_equal(Vector_(2,-0.1, 0.22),actual));
+}
+
+/* ************************************************************************* */
+TEST( planarSLAM, BearingRangeFactor_equals )
+{
+	planarSLAM::BearingRange
+		factor1(2, 3, Rot2::fromAngle(0.1), 7.3,  sigma2),
+		factor2(2, 3, Rot2::fromAngle(3), 2.0, sigma2);
+	EXPECT(assert_equal(factor1, factor1, 1e-5));
+	EXPECT(assert_equal(factor2, factor2, 1e-5));
+	EXPECT(assert_inequal(factor1, factor2, 1e-5));
+}
+
+/* ************************************************************************* */
+TEST( planarSLAM, PoseConstraint_equals )
+{
+	planarSLAM::Constraint factor1(2, x2), factor2(2, x3);
+	EXPECT(assert_equal(factor1, factor1, 1e-5));
+	EXPECT(assert_equal(factor2, factor2, 1e-5));
+	EXPECT(assert_inequal(factor1, factor2, 1e-5));
 }
 
 /* ************************************************************************* */
@@ -111,7 +161,7 @@ TEST( planarSLAM, constructor )
 	G.addRange(2, 3, z2, sigma);
 
 	Vector expected = Vector_(8, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, -0.1, 0.22);
-	CHECK(assert_equal(expected,G.unwhitenedError(c)));
+	EXPECT(assert_equal(expected,G.unwhitenedError(c)));
 }
 
 /* ************************************************************************* */

tests/testSerialization.cpp

@@ -147,6 +147,7 @@ bool equalsDereferencedXML(const T& input = T()) {
 //#include <gtsam/inference/SymbolicConditional.h>
 
 #include <gtsam/slam/planarSLAM.h>
+#include <gtsam/slam/BearingFactor.h>
 
 #include <CppUnitLite/TestHarness.h>
 
@@ -177,7 +178,6 @@ TEST (Serialization, xml_geometry) {
 	EXPECT(equalsXML<gtsam::Point3>(pt3));
 	EXPECT(equalsXML<gtsam::Rot3>(rt3));
 	EXPECT(equalsXML<gtsam::Pose3>(Pose3(rt3, pt3)));
-
 }
 
 /* ************************************************************************* */
@@ -195,16 +195,44 @@ TEST (Serialization, xml_linear) {
 }
 
 /* ************************************************************************* */
-TEST (Serialization, noiseModels) {
+TEST (Serialization, Shared_noiseModels) {
 	SharedDiagonal diag3 = noiseModel::Diagonal::Sigmas(Vector_(3, 0.1, 0.2, 0.3));
-	SharedGaussian model3 = noiseModel::Isotropic::Sigma(3, 0.3);
+	SharedGaussian iso3 = noiseModel::Isotropic::Sigma(3, 0.3);
+	SharedGaussian gaussian3 = noiseModel::Gaussian::SqrtInformation(eye(3,3));
 
 	EXPECT(equalsDereferenced<SharedDiagonal>(diag3));
 	EXPECT(equalsDereferencedXML<SharedDiagonal>(diag3));
 
-	// FAIL: Segfaults
+	EXPECT(equalsDereferenced<SharedGaussian>(iso3));
-//	EXPECT(equalsDereferenced<SharedGaussian>(model3));
+	EXPECT(equalsDereferencedXML<SharedGaussian>(iso3));
-//	EXPECT(equalsDereferencedXML<SharedGaussian>(model3));
+
+	EXPECT(equalsDereferenced<SharedGaussian>(gaussian3));
+	EXPECT(equalsDereferencedXML<SharedGaussian>(gaussian3));
+}
+
+/* ************************************************************************* */
+TEST (Serialization, noiseModels) {
+	noiseModel::Diagonal::shared_ptr diag3 = noiseModel::Diagonal::Sigmas(Vector_(3, 0.1, 0.2, 0.3));
+	noiseModel::Gaussian::shared_ptr gaussian3 = noiseModel::Gaussian::SqrtInformation(2.0 * eye(3,3));
+	noiseModel::Isotropic::shared_ptr iso3 = noiseModel::Isotropic::Sigma(3, 0.2);
+	noiseModel::Constrained::shared_ptr constrained3 = noiseModel::Constrained::All(3);
+	noiseModel::Unit::shared_ptr unit3 = noiseModel::Unit::Create(3);
+
+	EXPECT(   equalsDereferenced<noiseModel::Diagonal::shared_ptr>(diag3));
+	EXPECT(equalsDereferencedXML<noiseModel::Diagonal::shared_ptr>(diag3));
+
+	EXPECT(   equalsDereferenced<noiseModel::Gaussian::shared_ptr>(gaussian3));
+	EXPECT(equalsDereferencedXML<noiseModel::Gaussian::shared_ptr>(gaussian3));
+
+	EXPECT(   equalsDereferenced<noiseModel::Isotropic::shared_ptr>(iso3));
+	EXPECT(equalsDereferencedXML<noiseModel::Isotropic::shared_ptr>(iso3));
+
+	// FAIL: stream error
+//	EXPECT(   equalsDereferenced<noiseModel::Constrained::shared_ptr>(constrained3));
+//	EXPECT(equalsDereferencedXML<noiseModel::Constrained::shared_ptr>(constrained3));
+
+	EXPECT(   equalsDereferenced<noiseModel::Unit::shared_ptr>(unit3));
+	EXPECT(equalsDereferencedXML<noiseModel::Unit::shared_ptr>(unit3));
 }
 
 /* ************************************************************************* */
@@ -218,22 +246,43 @@ TEST (Serialization, planar_system) {
 	SharedGaussian model1 = noiseModel::Isotropic::Sigma(1, 0.3);
 	SharedGaussian model2 = noiseModel::Isotropic::Sigma(2, 0.3);
 	SharedGaussian model3 = noiseModel::Isotropic::Sigma(3, 0.3);
+
 	Graph graph;
-	graph.addBearing(PoseKey(3), PointKey(5), Rot2::fromDegrees(0.5), model1);
+	Prior prior(PoseKey(3), Pose2(0.1,-0.3, 0.2), model1);
-	graph.addRange(PoseKey(2), PointKey(9), 7.0, model1);
+	graph.add(prior);
-	graph.addBearingRange(PoseKey(2), PointKey(3), Rot2::fromDegrees(0.6), 2.0, model2);
+	Bearing bearing(PoseKey(3), PointKey(5), Rot2::fromDegrees(0.5), model1);
-	graph.addOdometry(PoseKey(2), PoseKey(3), Pose2(1.0, 2.0, 0.3), model3);
+	graph.add(bearing);
+	Range range(PoseKey(2), PointKey(9), 7.0, model1);
+	graph.add(range);
+	BearingRange bearingRange(PoseKey(2), PointKey(3), Rot2::fromDegrees(0.6), 2.0, model2);
+	graph.add(bearingRange);
+	Odometry odometry(PoseKey(2), PoseKey(3), Pose2(1.0, 2.0, 0.3), model3);
+	graph.add(odometry);
+	Constraint constraint(PoseKey(9), Pose2(2.0,-1.0, 0.2));
+	graph.add(constraint);
 
 	// text
 	EXPECT(equalsObj<PoseKey>(PoseKey(2)));
 	EXPECT(equalsObj<PointKey>(PointKey(3)));
 	EXPECT(equalsObj<Values>(values));
-//	EXPECT(equalsObj<Graph>(graph));
+	EXPECT(equalsObj<Prior>(prior));
+	EXPECT(equalsObj<Bearing>(bearing));
+	EXPECT(equalsObj<BearingRange>(bearingRange));
+	EXPECT(equalsObj<Range>(range));
+	EXPECT(equalsObj<Odometry>(odometry));
+//	EXPECT(equalsObj<Constraint>(constraint)); // FAIL: stream error
+//	EXPECT(equalsObj<Graph>(graph)); // FAIL: segfaults if there are factors
 
 	// xml
 	EXPECT(equalsXML<PoseKey>(PoseKey(2)));
 	EXPECT(equalsXML<PointKey>(PointKey(3)));
 	EXPECT(equalsXML<Values>(values));
+	EXPECT(equalsXML<Prior>(prior));
+	EXPECT(equalsXML<Bearing>(bearing));
+	EXPECT(equalsXML<BearingRange>(bearingRange));
+	EXPECT(equalsXML<Range>(range));
+	EXPECT(equalsXML<Odometry>(odometry));
+//	EXPECT(equalsXML<Constraint>(constraint)); // FAIL: stream error
 //	EXPECT(equalsXML<Graph>(graph));
 }