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Merge pull request #1409 from kartikarcot/verdant/boost-serialization

release/4.3a0
Frank Dellaert 2023-01-23 17:57:44 -08:00 committed by GitHub
parent 21bd4f7b89 1d7181be10
commit dd95757229
No known key found for this signature in database
GPG Key ID: 4AEE18F83AFDEB23
176 changed files with 592 additions and 35 deletions
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7
cmake/HandleGeneralOptions.cmake
View File

@ -29,6 +29,13 @@ option(GTSAM_ALLOW_DEPRECATED_SINCE_V43 "Allow use of methods/functions depr
option(GTSAM_SUPPORT_NESTED_DISSECTION "Support Metis-based nested dissection" ON)
option(GTSAM_TANGENT_PREINTEGRATION "Use new ImuFactor with integration on tangent space" ON)
option(GTSAM_SLOW_BUT_CORRECT_BETWEENFACTOR "Use the slower but correct version of BetweenFactor" OFF)
option(GTSAM_ENABLE_BOOST_SERIALIZATION "Enable Boost serialization" ON)
#TODO(kartikarcot) defining it in config.h.in did not work
if (GTSAM_ENABLE_BOOST_SERIALIZATION)
add_definitions(-DGTSAM_ENABLE_BOOST_SERIALIZATION)
endif()
if(NOT MSVC AND NOT XCODE_VERSION)
option(GTSAM_BUILD_WITH_CCACHE "Use ccache compiler cache" ON)
endif()

8
examples/CMakeLists.txt
View File

@ -2,4 +2,12 @@ set (excluded_examples
elaboratePoint2KalmanFilter.cpp
)
# if GTSAM_ENABLE_BOOST_SERIALIZATION is not set then SolverComparer.cpp will not compile
if (NOT GTSAM_ENABLE_BOOST_SERIALIZATION)
set (excluded_examples
${excluded_examples}
SolverComparer.cpp
)
endif()
gtsamAddExamplesGlob("*.cpp" "${excluded_examples}" "gtsam;gtsam_unstable;${Boost_PROGRAM_OPTIONS_LIBRARY}")

4
gtsam/base/ConcurrentMap.h
View File

@ -48,8 +48,10 @@ using ConcurrentMapBase = gtsam::FastMap<KEY, VALUE>;
#endif
#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
#include <boost/serialization/nvp.hpp>
#include <boost/serialization/split_member.hpp>
#endif
#include <boost/static_assert.hpp>
#include <gtsam/base/FastVector.h>
@ -100,6 +102,7 @@ public:
#endif
private:
#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
/** Serialization function */
friend class boost::serialization::access;
template<class Archive>
@ -120,6 +123,7 @@ private:
this->insert(map.begin(), map.end());
}
BOOST_SERIALIZATION_SPLIT_MEMBER()
#endif
};
}

5
gtsam/base/FastList.h
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@ -21,10 +21,11 @@
#include <gtsam/base/FastDefaultAllocator.h>
#include <list>
#include <boost/utility/enable_if.hpp>
#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
#include <boost/serialization/nvp.hpp>
#include <boost/serialization/version.hpp>
#include <boost/serialization/optional.hpp>
#include <boost/serialization/list.hpp>
#endif
namespace gtsam {
@ -76,12 +77,14 @@ public:
}
private:
#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
/** Serialization function */
friend class boost::serialization::access;
template<class ARCHIVE>
void serialize(ARCHIVE & ar, const unsigned int /*version*/) {
ar & BOOST_SERIALIZATION_BASE_OBJECT_NVP(Base);
}
#endif
};

4
gtsam/base/FastMap.h
View File

@ -19,8 +19,10 @@
#pragma once
#include <gtsam/base/FastDefaultAllocator.h>
#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
#include <boost/serialization/nvp.hpp>
#include <boost/serialization/map.hpp>
#endif
#include <map>
namespace gtsam {
@ -67,12 +69,14 @@ public:
bool exists(const KEY& e) const { return this->find(e) != this->end(); }
private:
#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
/** Serialization function */
friend class boost::serialization::access;
template<class ARCHIVE>
void serialize(ARCHIVE & ar, const unsigned int /*version*/) {
ar & BOOST_SERIALIZATION_BASE_OBJECT_NVP(Base);
}
#endif
};
}

4
gtsam/base/FastSet.h
View File

@ -19,11 +19,13 @@
#pragma once
#include <boost/version.hpp>
#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
#if BOOST_VERSION >= 107400
#include <boost/serialization/library_version_type.hpp>
#endif
#include <boost/serialization/nvp.hpp>
#include <boost/serialization/set.hpp>
#endif
#include <gtsam/base/FastDefaultAllocator.h>
#include <gtsam/base/Testable.h>
@ -121,12 +123,14 @@ public:
}
private:
#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
/** Serialization function */
friend class boost::serialization::access;
template<class ARCHIVE>
void serialize(ARCHIVE & ar, const unsigned int /*version*/) {
ar & BOOST_SERIALIZATION_BASE_OBJECT_NVP(Base);
}
#endif
};
}

2
gtsam/base/GenericValue.h
View File

@ -175,6 +175,7 @@ public:
private:
#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
/** Serialization function */
friend class boost::serialization::access;
template<class ARCHIVE>
@ -183,6 +184,7 @@ public:
boost::serialization::base_object<Value>(*this));
ar & boost::serialization::make_nvp("value", value_);
}
#endif
// Alignment, see https://eigen.tuxfamily.org/dox/group__TopicStructHavingEigenMembers.html

3
gtsam/base/MatrixSerialization.h
View File

@ -18,6 +18,8 @@
// \callgraph
// Defined only if boost serialization is enabled
#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
#pragma once
#include <gtsam/base/Matrix.h>
@ -87,3 +89,4 @@ void serialize(Archive& ar, gtsam::Matrix& m, const unsigned int version) {
} // namespace serialization
} // namespace boost
#endif

4
gtsam/base/SymmetricBlockMatrix.h
View File

@ -21,7 +21,9 @@
#include <gtsam/base/Matrix.h>
#include <gtsam/base/types.h>
#include <gtsam/dllexport.h>
#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
#include <boost/serialization/nvp.hpp>
#endif
#include <cassert>
#include <stdexcept>
#include <array>
@ -384,6 +386,7 @@ namespace gtsam {
template<typename SymmetricBlockMatrixType> friend class SymmetricBlockMatrixBlockExpr;
private:
#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
/** Serialization function */
friend class boost::serialization::access;
template<class ARCHIVE>
@ -396,6 +399,7 @@ namespace gtsam {
ar & BOOST_SERIALIZATION_NVP(variableColOffsets_);
ar & BOOST_SERIALIZATION_NVP(blockStart_);
}
#endif
};
/// Foward declare exception class

6
gtsam/base/Value.h
View File

@ -21,8 +21,10 @@
#include <gtsam/config.h> // Configuration from CMake
#include <gtsam/base/Vector.h>
#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
#include <boost/serialization/nvp.hpp>
#include <boost/serialization/assume_abstract.hpp>
#endif
#include <memory>
namespace gtsam {
@ -119,13 +121,17 @@ namespace gtsam {
* The last two links explain why these export lines have to be in the same source module that includes
* any of the archive class headers.
* */
#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
friend class boost::serialization::access;
template<class ARCHIVE>
void serialize(ARCHIVE & /*ar*/, const unsigned int /*version*/) {
}
#endif
};
} /* namespace gtsam */
#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
BOOST_SERIALIZATION_ASSUME_ABSTRACT(gtsam::Value)
#endif

3
gtsam/base/VectorSerialization.h
View File

@ -16,6 +16,8 @@
* @date February 2022
*/
// Defined only if boost serialization is enabled
#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
#pragma once
#include <gtsam/base/Vector.h>
@ -63,3 +65,4 @@ BOOST_SERIALIZATION_SPLIT_FREE(gtsam::Vector)
BOOST_SERIALIZATION_SPLIT_FREE(gtsam::Vector2)
BOOST_SERIALIZATION_SPLIT_FREE(gtsam::Vector3)
BOOST_SERIALIZATION_SPLIT_FREE(gtsam::Vector6)
#endif

2
gtsam/base/VerticalBlockMatrix.h
View File

@ -219,6 +219,7 @@ namespace gtsam {
friend class SymmetricBlockMatrix;
private:
#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
/** Serialization function */
friend class boost::serialization::access;
template<class ARCHIVE>
@ -229,6 +230,7 @@ namespace gtsam {
ar & BOOST_SERIALIZATION_NVP(rowEnd_);
ar & BOOST_SERIALIZATION_NVP(blockStart_);
}
#endif
};
}

2
gtsam/base/serializationTestHelpers.h
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@ -17,6 +17,7 @@
* @date Feb 7, 2012
*/
#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
#pragma once
#include <iostream>
@ -175,3 +176,4 @@ bool equalsDereferencedBinary(const T& input = T()) {
} // \namespace serializationTestHelpers
} // \namespace gtsam
#endif

4
gtsam/base/std_optional_serialization.h
View File

@ -9,6 +9,8 @@
* Inspired from this PR: https://github.com/boostorg/serialization/pull/163
* ---------------------------------------------------------------------------- */
// Defined only if boost serialization is enabled
#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
#pragma once
#include <optional>
#include <boost/config.hpp>
@ -97,4 +99,4 @@ void serialize(Archive& ar, std::optional<T>& t, const unsigned int version) {
} // namespace serialization
} // namespace boost
#endif

10
gtsam/base/tests/CMakeLists.txt
View File

@ -1 +1,9 @@
gtsamAddTestsGlob(base "test*.cpp" "" "gtsam")
# if GTSAM_ENABLE_BOOST_SERIALIZATION is OFF then exclude some tests
if (NOT GTSAM_ENABLE_BOOST_SERIALIZATION)
# create a semicolon seperated list of files to exclude
set(EXCLUDE_TESTS "testSerializationBase.cpp" "testStdOptionalSerialization.cpp")
else()
set(EXCLUDE_TESTS "")
endif()
gtsamAddTestsGlob(base "test*.cpp" "${EXCLUDE_TESTS}" "gtsam")

1
gtsam/base/timing.h
View File

@ -23,6 +23,7 @@
#include <boost/version.hpp>
#include <memory>
#include <cstddef>
#include <string>

1
gtsam/base/treeTraversal-inst.h
View File

@ -28,6 +28,7 @@
#include <vector>
#include <string>
#include <memory>
#include <cassert>
namespace gtsam {

4
gtsam/discrete/DecisionTree-inl.h
View File

@ -154,6 +154,7 @@ namespace gtsam {
private:
using Base = DecisionTree<L, Y>::Node;
#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
/** Serialization function */
friend class boost::serialization::access;
template <class ARCHIVE>
@ -162,6 +163,7 @@ namespace gtsam {
ar& BOOST_SERIALIZATION_NVP(constant_);
ar& BOOST_SERIALIZATION_NVP(nrAssignments_);
}
#endif
}; // Leaf
/****************************************************************************/
@ -443,6 +445,7 @@ namespace gtsam {
private:
using Base = DecisionTree<L, Y>::Node;
#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
/** Serialization function */
friend class boost::serialization::access;
template <class ARCHIVE>
@ -452,6 +455,7 @@ namespace gtsam {
ar& BOOST_SERIALIZATION_NVP(branches_);
ar& BOOST_SERIALIZATION_NVP(allSame_);
}
#endif
}; // Choice
/****************************************************************************/

6
gtsam/discrete/DecisionTree.h
View File

@ -23,7 +23,9 @@
#include <gtsam/base/types.h>
#include <gtsam/discrete/Assignment.h>
#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
#include <boost/serialization/nvp.hpp>
#endif
#include <memory>
#include <functional>
#include <iostream>
@ -117,10 +119,12 @@ namespace gtsam {
virtual bool isLeaf() const = 0;
private:
#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
/** Serialization function */
friend class boost::serialization::access;
template <class ARCHIVE>
void serialize(ARCHIVE& ar, const unsigned int /*version*/) {}
#endif
};
/** ------------------------ Node base class --------------------------- */
@ -374,12 +378,14 @@ namespace gtsam {
/// @}
private:
#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
/** Serialization function */
friend class boost::serialization::access;
template <class ARCHIVE>
void serialize(ARCHIVE& ar, const unsigned int /*version*/) {
ar& BOOST_SERIALIZATION_NVP(root_);
}
#endif
}; // DecisionTree
template <class L, class Y>

2
gtsam/discrete/DecisionTreeFactor.h
View File

@ -253,6 +253,7 @@ namespace gtsam {
/// @}
private:
#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
/** Serialization function */
friend class boost::serialization::access;
template <class ARCHIVE>
@ -261,6 +262,7 @@ namespace gtsam {
ar& BOOST_SERIALIZATION_BASE_OBJECT_NVP(ADT);
ar& BOOST_SERIALIZATION_NVP(cardinalities_);
}
#endif
};
// traits

2
gtsam/discrete/DiscreteBayesNet.h
View File

@ -150,12 +150,14 @@ class GTSAM_EXPORT DiscreteBayesNet: public BayesNet<DiscreteConditional> {
/// @}
private:
#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
/** Serialization function */
friend class boost::serialization::access;
template<class ARCHIVE>
void serialize(ARCHIVE & ar, const unsigned int /*version*/) {
ar & BOOST_SERIALIZATION_BASE_OBJECT_NVP(Base);
}
#endif
};
// traits

2
gtsam/discrete/DiscreteConditional.h
View File

@ -268,6 +268,7 @@ class GTSAM_EXPORT DiscreteConditional
bool forceComplete) const;
private:
#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
/** Serialization function */
friend class boost::serialization::access;
template <class Archive>
@ -275,6 +276,7 @@ class GTSAM_EXPORT DiscreteConditional
ar& BOOST_SERIALIZATION_BASE_OBJECT_NVP(BaseFactor);
ar& BOOST_SERIALIZATION_BASE_OBJECT_NVP(BaseConditional);
}
#endif
};
// DiscreteConditional

4
gtsam/discrete/DiscreteKey.h
View File

@ -21,7 +21,9 @@
#include <gtsam/global_includes.h>
#include <gtsam/inference/Key.h>
#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
#include <boost/serialization/vector.hpp>
#endif
#include <map>
#include <string>
#include <vector>
@ -79,6 +81,7 @@ namespace gtsam {
/// Check equality to another DiscreteKeys object.
bool equals(const DiscreteKeys& other, double tol = 0) const;
#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
/** Serialization function */
friend class boost::serialization::access;
template <class ARCHIVE>
@ -87,6 +90,7 @@ namespace gtsam {
"DiscreteKeys",
boost::serialization::base_object<std::vector<DiscreteKey>>(*this));
}
#endif
}; // DiscreteKeys

2
gtsam/discrete/DiscreteLookupDAG.h
View File

@ -126,12 +126,14 @@ class GTSAM_EXPORT DiscreteLookupDAG : public BayesNet<DiscreteLookupTable> {
/// @}
private:
#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
/** Serialization function */
friend class boost::serialization::access;
template <class ARCHIVE>
void serialize(ARCHIVE& ar, const unsigned int /*version*/) {
ar& BOOST_SERIALIZATION_BASE_OBJECT_NVP(Base);
}
#endif
};
// traits

10
gtsam/discrete/tests/CMakeLists.txt
View File

@ -1 +1,9 @@
gtsamAddTestsGlob(discrete "test*.cpp" "" "gtsam")
# if GTSAM_ENABLE_BOOST_SERIALIZATION is OFF then exclude some tests
if (NOT GTSAM_ENABLE_BOOST_SERIALIZATION)
# create a semicolon seperated list of files to exclude
set(EXCLUDE_TESTS "testSerializationDiscrete.cpp" "testDiscreteFactor.cpp")
else()
set(EXCLUDE_TESTS "")
endif()
gtsamAddTestsGlob(discrete "test*.cpp" "${EXCLUDE_TESTS}" "gtsam")

4
gtsam/geometry/BearingRange.h
View File

@ -22,7 +22,9 @@
#include <gtsam/base/Testable.h>
#include <gtsam/base/OptionalJacobian.h>
#include <boost/concept/assert.hpp>
#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
#include <boost/serialization/nvp.hpp>
#endif
#include <iostream>
namespace gtsam {
@ -147,6 +149,7 @@ public:
/// @{
private:
#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
/// Serialization function
template <class ARCHIVE>
void serialize(ARCHIVE& ar, const unsigned int /*version*/) {
@ -155,6 +158,7 @@ private:
}
friend class boost::serialization::access;
#endif
/// @}

2
gtsam/geometry/Cal3.h
View File

@ -184,6 +184,7 @@ class GTSAM_EXPORT Cal3 {
/// @{
private:
#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION ///
/// Serialization function
friend class boost::serialization::access;
template <class Archive>
@ -194,6 +195,7 @@ class GTSAM_EXPORT Cal3 {
ar& BOOST_SERIALIZATION_NVP(u0_);
ar& BOOST_SERIALIZATION_NVP(v0_);
}
#endif
/// @}
};

2
gtsam/geometry/Cal3Bundler.h
View File

@ -156,6 +156,7 @@ class GTSAM_EXPORT Cal3Bundler : public Cal3 {
/// @name Advanced Interface
/// @{
#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
/** Serialization function */
friend class boost::serialization::access;
template <class Archive>
@ -166,6 +167,7 @@ class GTSAM_EXPORT Cal3Bundler : public Cal3 {
ar& BOOST_SERIALIZATION_NVP(k2_);
ar& BOOST_SERIALIZATION_NVP(tol_);
}
#endif
/// @}
};

2
gtsam/geometry/Cal3DS2.h
View File

@ -104,6 +104,7 @@ class GTSAM_EXPORT Cal3DS2 : public Cal3DS2_Base {
/// @name Advanced Interface
/// @{
#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
/** Serialization function */
friend class boost::serialization::access;
template <class Archive>
@ -111,6 +112,7 @@ class GTSAM_EXPORT Cal3DS2 : public Cal3DS2_Base {
ar& boost::serialization::make_nvp(
"Cal3DS2", boost::serialization::base_object<Cal3DS2_Base>(*this));
}
#endif
/// @}
};

2
gtsam/geometry/Cal3DS2_Base.h
View File

@ -156,6 +156,7 @@ class GTSAM_EXPORT Cal3DS2_Base : public Cal3 {
/// @name Advanced Interface
/// @{
#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
/** Serialization function */
friend class boost::serialization::access;
template <class Archive>
@ -168,6 +169,7 @@ class GTSAM_EXPORT Cal3DS2_Base : public Cal3 {
ar& BOOST_SERIALIZATION_NVP(p2_);
ar& BOOST_SERIALIZATION_NVP(tol_);
}
#endif
/// @}
};

2
gtsam/geometry/Cal3Fisheye.h
View File

@ -184,6 +184,7 @@ class GTSAM_EXPORT Cal3Fisheye : public Cal3 {
/// @name Advanced Interface
/// @{
#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
/** Serialization function */
friend class boost::serialization::access;
template <class Archive>
@ -195,6 +196,7 @@ class GTSAM_EXPORT Cal3Fisheye : public Cal3 {
ar& BOOST_SERIALIZATION_NVP(k3_);
ar& BOOST_SERIALIZATION_NVP(k4_);
}
#endif
/// @}
};

2
gtsam/geometry/Cal3Unified.h
View File

@ -138,6 +138,7 @@ class GTSAM_EXPORT Cal3Unified : public Cal3DS2_Base {
/// @}
private:
#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
/** Serialization function */
friend class boost::serialization::access;
template <class Archive>
@ -146,6 +147,7 @@ class GTSAM_EXPORT Cal3Unified : public Cal3DS2_Base {
"Cal3Unified", boost::serialization::base_object<Cal3DS2_Base>(*this));
ar& BOOST_SERIALIZATION_NVP(xi_);
}
#endif
};
template <>

2
gtsam/geometry/Cal3_S2.h
View File

@ -132,6 +132,7 @@ class GTSAM_EXPORT Cal3_S2 : public Cal3 {
/// @{
private:
#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION ///
/// Serialization function
friend class boost::serialization::access;
template <class Archive>
@ -139,6 +140,7 @@ class GTSAM_EXPORT Cal3_S2 : public Cal3 {
ar& boost::serialization::make_nvp(
"Cal3_S2", boost::serialization::base_object<Cal3>(*this));
}
#endif
/// @}
};

2
gtsam/geometry/Cal3_S2Stereo.h
View File

@ -143,6 +143,7 @@ class GTSAM_EXPORT Cal3_S2Stereo : public Cal3_S2 {
/// @{
private:
#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
/** Serialization function */
friend class boost::serialization::access;
template <class Archive>
@ -151,6 +152,7 @@ class GTSAM_EXPORT Cal3_S2Stereo : public Cal3_S2 {
"Cal3_S2", boost::serialization::base_object<Cal3_S2>(*this));
ar& BOOST_SERIALIZATION_NVP(b_);
}
#endif
/// @}
};

6
gtsam/geometry/CalibratedCamera.h
View File

@ -25,7 +25,9 @@
#include <gtsam/base/Manifold.h>
#include <gtsam/base/ThreadsafeException.h>
#include <gtsam/dllexport.h>
#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
#include <boost/serialization/nvp.hpp>
#endif
namespace gtsam {
@ -228,12 +230,14 @@ public:
private:
#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
/** Serialization function */
friend class boost::serialization::access;
template<class Archive>
void serialize(Archive & ar, const unsigned int /*version*/) {
ar & BOOST_SERIALIZATION_NVP(pose_);
}
#endif
};
// end of class PinholeBase
@ -412,6 +416,7 @@ private:
/// @name Advanced Interface
/// @{
#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
/** Serialization function */
friend class boost::serialization::access;
template<class Archive>
@ -420,6 +425,7 @@ private:
& boost::serialization::make_nvp("PinholeBase",
boost::serialization::base_object<PinholeBase>(*this));
}
#endif
/// @}
};

2
gtsam/geometry/CameraSet.h
View File

@ -465,12 +465,14 @@ class CameraSet : public std::vector<CAMERA, Eigen::aligned_allocator<CAMERA>> {
}
private:
#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION ///
/// Serialization function
friend class boost::serialization::access;
template <class ARCHIVE>
void serialize(ARCHIVE& ar, const unsigned int /*version*/) {
ar&(*this);
}
#endif
public:
GTSAM_MAKE_ALIGNED_OPERATOR_NEW

2
gtsam/geometry/EssentialMatrix.h
View File

@ -180,6 +180,7 @@ class EssentialMatrix {
/// @name Advanced Interface
/// @{
#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
/** Serialization function */
friend class boost::serialization::access;
template<class ARCHIVE>
@ -197,6 +198,7 @@ class EssentialMatrix {
ar & boost::serialization::make_nvp("E32", E_(2, 1));
ar & boost::serialization::make_nvp("E33", E_(2, 2));
}
#endif
/// @}

2
gtsam/geometry/PinholeCamera.h
View File

@ -326,6 +326,7 @@ public:
private:
#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
/** Serialization function */
friend class boost::serialization::access;
template<class Archive>
@ -335,6 +336,7 @@ private:
boost::serialization::base_object<Base>(*this));
ar & BOOST_SERIALIZATION_NVP(K_);
}
#endif
public:
GTSAM_MAKE_ALIGNED_OPERATOR_NEW

4
gtsam/geometry/PinholePose.h
View File

@ -217,6 +217,7 @@ public:
private:
#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
/** Serialization function */
friend class boost::serialization::access;
template<class Archive>
@ -225,6 +226,7 @@ private:
& boost::serialization::make_nvp("PinholeBase",
boost::serialization::base_object<PinholeBase>(*this));
}
#endif
public:
GTSAM_MAKE_ALIGNED_OPERATOR_NEW
@ -429,6 +431,7 @@ public:
private:
#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
/** Serialization function */
friend class boost::serialization::access;
template<class Archive>
@ -438,6 +441,7 @@ private:
boost::serialization::base_object<Base>(*this));
ar & BOOST_SERIALIZATION_NVP(K_);
}
#endif
public:
GTSAM_MAKE_ALIGNED_OPERATOR_NEW

2
gtsam/geometry/PinholeSet.h
View File

@ -64,12 +64,14 @@ public:
private:
#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION ///
/// Serialization function
friend class boost::serialization::access;
template<class ARCHIVE>
void serialize(ARCHIVE & ar, const unsigned int version) {
ar & BOOST_SERIALIZATION_BASE_OBJECT_NVP(Base);
}
#endif
};
template<class CAMERA>

2
gtsam/geometry/Point2.h
View File

@ -19,7 +19,9 @@
#include <gtsam/base/VectorSpace.h>
#include <gtsam/base/std_optional_serialization.h>
#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
#include <boost/serialization/nvp.hpp>
#endif
#include <optional>

2
gtsam/geometry/Point3.h
View File

@ -26,7 +26,9 @@
#include <gtsam/base/Vector.h>
#include <gtsam/dllexport.h>
#include <gtsam/base/VectorSerialization.h>
#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
#include <boost/serialization/nvp.hpp>
#endif
#include <numeric>
namespace gtsam {

2
gtsam/geometry/Pose2.h
View File

@ -326,6 +326,7 @@ public:
private:
#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION //
// Serialization function
friend class boost::serialization::access;
template<class Archive>
@ -333,6 +334,7 @@ public:
ar & BOOST_SERIALIZATION_NVP(t_);
ar & BOOST_SERIALIZATION_NVP(r_);
}
#endif
public:
// Align for Point2, which is either derived from, or is typedef, of Vector2

2
gtsam/geometry/Pose3.h
View File

@ -389,6 +389,7 @@ public:
friend std::ostream &operator<<(std::ostream &os, const Pose3& p);
private:
#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
/** Serialization function */
friend class boost::serialization::access;
template<class Archive>
@ -396,6 +397,7 @@ public:
ar & BOOST_SERIALIZATION_NVP(R_);
ar & BOOST_SERIALIZATION_NVP(t_);
}
#endif
/// @}
#ifdef GTSAM_USE_QUATERNIONS

2
gtsam/geometry/Rot2.h
View File

@ -213,6 +213,7 @@ namespace gtsam {
static Rot2 ClosestTo(const Matrix2& M);
private:
#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
/** Serialization function */
friend class boost::serialization::access;
template<class ARCHIVE>
@ -220,6 +221,7 @@ namespace gtsam {
ar & BOOST_SERIALIZATION_NVP(c_);
ar & BOOST_SERIALIZATION_NVP(s_);
}
#endif
};

2
gtsam/geometry/Rot3.h
View File

@ -528,6 +528,7 @@ class GTSAM_EXPORT Rot3 : public LieGroup<Rot3, 3> {
/// @}
private:
#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
/** Serialization function */
friend class boost::serialization::access;
template <class ARCHIVE>
@ -550,6 +551,7 @@ class GTSAM_EXPORT Rot3 : public LieGroup<Rot3, 3> {
ar& boost::serialization::make_nvp("z", quaternion_.z());
#endif
}
#endif
#ifdef GTSAM_USE_QUATERNIONS
// only align if quaternion, Matrix3 has no alignment requirements

4
gtsam/geometry/SO3.h
View File

@ -99,8 +99,9 @@ template <>
GTSAM_EXPORT
Vector9 SO3::vec(OptionalJacobian<9, 3> H) const;
/** Serialization function */
#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
template <class Archive>
/** Serialization function */
void serialize(Archive& ar, SO3& R, const unsigned int /*version*/) {
Matrix3& M = R.matrix_;
ar& boost::serialization::make_nvp("R11", M(0, 0));
@ -113,6 +114,7 @@ void serialize(Archive& ar, SO3& R, const unsigned int /*version*/) {
ar& boost::serialization::make_nvp("R32", M(2, 1));
ar& boost::serialization::make_nvp("R33", M(2, 2));
}
#endif
namespace so3 {

4
gtsam/geometry/SO4.h
View File

@ -78,8 +78,9 @@ GTSAM_EXPORT Matrix3 topLeft(const SO4 &Q, OptionalJacobian<9, 6> H = {});
*/
GTSAM_EXPORT Matrix43 stiefel(const SO4 &Q, OptionalJacobian<12, 6> H = {});
/** Serialization function */
#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
template <class Archive>
/** Serialization function */
void serialize(Archive &ar, SO4 &Q, const unsigned int /*version*/) {
Matrix4 &M = Q.matrix_;
ar &boost::serialization::make_nvp("Q11", M(0, 0));
@ -102,6 +103,7 @@ void serialize(Archive &ar, SO4 &Q, const unsigned int /*version*/) {
ar &boost::serialization::make_nvp("Q43", M(3, 2));
ar &boost::serialization::make_nvp("Q44", M(3, 3));
}
#endif
/*
* Define the traits. internal::LieGroup provides both Lie group and Testable

6
gtsam/geometry/SOn.h
View File

@ -24,7 +24,9 @@
#include <gtsam/dllexport.h>
#include <Eigen/Core>
#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
#include <boost/serialization/nvp.hpp>
#endif
#include <iostream> // TODO(frank): how to avoid?
#include <string>
@ -323,6 +325,7 @@ class SO : public LieGroup<SO<N>, internal::DimensionSO(N)> {
/// @name Serialization
/// @{
#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
template <class Archive>
friend void save(Archive&, SO&, const unsigned int);
template <class Archive>
@ -331,6 +334,7 @@ class SO : public LieGroup<SO<N>, internal::DimensionSO(N)> {
friend void serialize(Archive&, SO&, const unsigned int);
friend class boost::serialization::access;
friend class Rot3; // for serialize
#endif
/// @}
};
@ -375,6 +379,7 @@ template <>
GTSAM_EXPORT
typename SOn::VectorN2 SOn::vec(DynamicJacobian H) const;
#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
/** Serialization function */
template<class Archive>
void serialize(
@ -384,6 +389,7 @@ void serialize(
Matrix& M = Q.matrix_;
ar& BOOST_SERIALIZATION_NVP(M);
}
#endif
/*
* Define the traits. internal::LieGroup provides both Lie group and Testable

6
gtsam/geometry/SphericalCamera.h
View File

@ -26,7 +26,9 @@
#include <gtsam/geometry/Pose3.h>
#include <gtsam/geometry/Unit3.h>
#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
#include <boost/serialization/nvp.hpp>
#endif
namespace gtsam {
@ -52,6 +54,7 @@ class GTSAM_EXPORT EmptyCal {
}
private:
#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION ///
/// Serialization function
friend class boost::serialization::access;
template <class Archive>
@ -59,6 +62,7 @@ class GTSAM_EXPORT EmptyCal {
ar& boost::serialization::make_nvp(
"EmptyCal", boost::serialization::base_object<EmptyCal>(*this));
}
#endif
};
/**
@ -219,12 +223,14 @@ class GTSAM_EXPORT SphericalCamera {
static size_t Dim() { return 6; }
private:
#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
/** Serialization function */
friend class boost::serialization::access;
template <class Archive>
void serialize(Archive& ar, const unsigned int /*version*/) {
ar& BOOST_SERIALIZATION_NVP(pose_);
}
#endif
public:
GTSAM_MAKE_ALIGNED_OPERATOR_NEW

2
gtsam/geometry/StereoCamera.h
View File

@ -179,12 +179,14 @@ public:
private:
#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
friend class boost::serialization::access;
template<class Archive>
void serialize(Archive & ar, const unsigned int /*version*/) {
ar & BOOST_SERIALIZATION_NVP(leftCamPose_);
ar & BOOST_SERIALIZATION_NVP(K_);
}
#endif
};

4
gtsam/geometry/StereoPoint2.h
View File

@ -20,7 +20,9 @@
#include <gtsam/geometry/Point2.h>
#include <gtsam/base/VectorSpace.h>
#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
#include <boost/serialization/nvp.hpp>
#endif
namespace gtsam {
@ -146,6 +148,7 @@ private:
/// @name Advanced Interface
/// @{
#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
/** Serialization function */
friend class boost::serialization::access;
template<class ARCHIVE>
@ -154,6 +157,7 @@ private:
ar & BOOST_SERIALIZATION_NVP(uR_);
ar & BOOST_SERIALIZATION_NVP(v_);
}
#endif
/// @}

2
gtsam/geometry/Unit3.h
View File

@ -199,12 +199,14 @@ private:
/// @name Advanced Interface
/// @{
#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
/** Serialization function */
friend class boost::serialization::access;
template<class ARCHIVE>
void serialize(ARCHIVE & ar, const unsigned int /*version*/) {
ar & BOOST_SERIALIZATION_NVP(p_);
}
#endif
/// @}

10
gtsam/geometry/tests/CMakeLists.txt
View File

@ -1 +1,9 @@
gtsamAddTestsGlob(geometry "test*.cpp" "" "gtsam")
# if GTSAM_ENABLE_BOOST_SERIALIZATION is OFF then exclude some tests
if (NOT GTSAM_ENABLE_BOOST_SERIALIZATION)
# create a semicolon seperated list of files to exclude
set(EXCLUDE_TESTS "testSerializationGeometry.cpp")
else()
set(EXCLUDE_TESTS "")
endif()
gtsamAddTestsGlob(geometry "test*.cpp" "${EXCLUDE_TESTS}" "gtsam")

18
gtsam/geometry/tests/testBearingRange.cpp
View File

@ -25,7 +25,6 @@
using namespace std;
using namespace gtsam;
using namespace serializationTestHelpers;
typedef BearingRange<Pose2, Point2> BearingRange2D;
BearingRange2D br2D(1, 2);
@ -45,13 +44,6 @@ TEST(BearingRange, 2D) {
EXPECT(assert_equal(expected, actual));
}
/* ************************************************************************* */
TEST(BearingRange, Serialization2D) {
EXPECT(equalsObj<BearingRange2D>(br2D));
EXPECT(equalsXML<BearingRange2D>(br2D));
EXPECT(equalsBinary<BearingRange2D>(br2D));
}
//******************************************************************************
TEST(BearingRange3D, Concept) {
BOOST_CONCEPT_ASSERT((IsManifold<BearingRange3D>));
@ -64,12 +56,22 @@ TEST(BearingRange, 3D) {
EXPECT(assert_equal(expected, actual));
}
#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
using namespace serializationTestHelpers;
/* ************************************************************************* */
TEST(BearingRange, Serialization2D) {
EXPECT(equalsObj<BearingRange2D>(br2D));
EXPECT(equalsXML<BearingRange2D>(br2D));
EXPECT(equalsBinary<BearingRange2D>(br2D));
}
/* ************************************************************************* */
TEST(BearingRange, Serialization3D) {
EXPECT(equalsObj<BearingRange3D>(br3D));
EXPECT(equalsXML<BearingRange3D>(br3D));
EXPECT(equalsBinary<BearingRange3D>(br3D));
}
#endif
/* ************************************************************************* */
int main() {

2
gtsam/geometry/tests/testUnit3.cpp
View File

@ -499,12 +499,14 @@ TEST(Unit3, CopyAssign) {
}
/* ************************************************************************* */
#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
TEST(actualH, Serialization) {
Unit3 p(0, 1, 0);
EXPECT(serializationTestHelpers::equalsObj(p));
EXPECT(serializationTestHelpers::equalsXML(p));
EXPECT(serializationTestHelpers::equalsBinary(p));
}
#endif
/* ************************************************************************* */

4
gtsam/geometry/triangulation.h
View File

@ -611,6 +611,7 @@ struct GTSAM_EXPORT TriangulationParameters {
private:
#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION ///
/// Serialization function
friend class boost::serialization::access;
template<class ARCHIVE>
@ -620,6 +621,7 @@ private:
ar & BOOST_SERIALIZATION_NVP(landmarkDistanceThreshold);
ar & BOOST_SERIALIZATION_NVP(dynamicOutlierRejectionThreshold);
}
#endif
};
/**
@ -674,12 +676,14 @@ class TriangulationResult : public std::optional<Point3> {
}
private:
#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION ///
/// Serialization function
friend class boost::serialization::access;
template <class ARCHIVE>
void serialize(ARCHIVE& ar, const unsigned int version) {
ar& BOOST_SERIALIZATION_NVP(status);
}
#endif
};
/// triangulateSafe: extensive checking of the outcome

2
gtsam/hybrid/GaussianMixture.h
View File

@ -255,6 +255,7 @@ class GTSAM_EXPORT GaussianMixture
/// Check whether `given` has values for all frontal keys.
bool allFrontalsGiven(const VectorValues &given) const;
#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
/** Serialization function */
friend class boost::serialization::access;
template <class Archive>
@ -263,6 +264,7 @@ class GTSAM_EXPORT GaussianMixture
ar &BOOST_SERIALIZATION_BASE_OBJECT_NVP(BaseConditional);
ar &BOOST_SERIALIZATION_NVP(conditionals_);
}
#endif
};
/// Return the DiscreteKey vector as a set.

2
gtsam/hybrid/GaussianMixtureFactor.h
View File

@ -152,6 +152,7 @@ class GTSAM_EXPORT GaussianMixtureFactor : public HybridFactor {
/// @}
private:
#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
/** Serialization function */
friend class boost::serialization::access;
template <class ARCHIVE>
@ -159,6 +160,7 @@ class GTSAM_EXPORT GaussianMixtureFactor : public HybridFactor {
ar &BOOST_SERIALIZATION_BASE_OBJECT_NVP(Base);
ar &BOOST_SERIALIZATION_NVP(factors_);
}
#endif
};
// traits

2
gtsam/hybrid/HybridBayesNet.h
View File

@ -228,12 +228,14 @@ class GTSAM_EXPORT HybridBayesNet : public BayesNet<HybridConditional> {
*/
void updateDiscreteConditionals(const DecisionTreeFactor &prunedDecisionTree);
#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
/** Serialization function */
friend class boost::serialization::access;
template <class ARCHIVE>
void serialize(ARCHIVE &ar, const unsigned int /*version*/) {
ar &BOOST_SERIALIZATION_BASE_OBJECT_NVP(Base);
}
#endif
};
/// traits

2
gtsam/hybrid/HybridBayesTree.h
View File

@ -114,12 +114,14 @@ class GTSAM_EXPORT HybridBayesTree : public BayesTree<HybridBayesTreeClique> {
/// @}
private:
#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
/** Serialization function */
friend class boost::serialization::access;
template <class ARCHIVE>
void serialize(ARCHIVE& ar, const unsigned int /*version*/) {
ar& BOOST_SERIALIZATION_BASE_OBJECT_NVP(Base);
}
#endif
};
/// traits

2
gtsam/hybrid/HybridConditional.h
View File

@ -204,6 +204,7 @@ class GTSAM_EXPORT HybridConditional
/// @}
private:
#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
/** Serialization function */
friend class boost::serialization::access;
template <class Archive>
@ -225,6 +226,7 @@ class GTSAM_EXPORT HybridConditional
static_cast<GaussianMixture*>(NULL), static_cast<Factor*>(NULL));
}
}
#endif
}; // HybridConditional

2
gtsam/hybrid/HybridFactor.h
View File

@ -137,6 +137,7 @@ class GTSAM_EXPORT HybridFactor : public Factor {
/// @}
private:
#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
/** Serialization function */
friend class boost::serialization::access;
template <class ARCHIVE>
@ -148,6 +149,7 @@ class GTSAM_EXPORT HybridFactor : public Factor {
ar &BOOST_SERIALIZATION_NVP(discreteKeys_);
ar &BOOST_SERIALIZATION_NVP(continuousKeys_);
}
#endif
};
// HybridFactor

10
gtsam/hybrid/tests/CMakeLists.txt
View File

@ -1 +1,9 @@
gtsamAddTestsGlob(hybrid "test*.cpp" "" "gtsam")
# if GTSAM_ENABLE_BOOST_SERIALIZATION is OFF then exclude some tests
if (NOT GTSAM_ENABLE_BOOST_SERIALIZATION)
# create a semicolon seperated list of files to exclude
set(EXCLUDE_TESTS "testSerializationHybrid.cpp")
else()
set(EXCLUDE_TESTS "")
endif()
gtsamAddTestsGlob(hybrid "test*.cpp" "${EXCLUDE_TESTS}" "gtsam")

2
gtsam/inference/BayesTree.h
View File

@ -259,6 +259,7 @@ namespace gtsam {
template<class BAYESTREE, class GRAPH> friend class EliminatableClusterTree;
private:
#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
/** Serialization function */
friend class boost::serialization::access;
template<class ARCHIVE>
@ -266,6 +267,7 @@ namespace gtsam {
ar & BOOST_SERIALIZATION_NVP(nodes_);
ar & BOOST_SERIALIZATION_NVP(roots_);
}
#endif
/// @}

2
gtsam/inference/BayesTreeCliqueBase.h
View File

@ -199,6 +199,7 @@ namespace gtsam {
private:
#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
/** Serialization function */
friend class boost::serialization::access;
template<class ARCHIVE>
@ -213,6 +214,7 @@ namespace gtsam {
}
ar & BOOST_SERIALIZATION_NVP(children);
}
#endif
/// @}

2
gtsam/inference/Conditional.h
View File

@ -213,12 +213,14 @@ namespace gtsam {
// Cast to derived type (const) (casts down to derived conditional type, then up to factor type)
const FACTOR& asFactor() const { return static_cast<const FACTOR&>(static_cast<const DERIVEDCONDITIONAL&>(*this)); }
#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
/** Serialization function */
friend class boost::serialization::access;
template<class ARCHIVE>
void serialize(ARCHIVE & ar, const unsigned int /*version*/) {
ar & BOOST_SERIALIZATION_NVP(nrFrontals_);
}
#endif
/// @}

6
gtsam/inference/Factor.h
View File

@ -21,7 +21,9 @@
#pragma once
#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
#include <boost/serialization/nvp.hpp>
#endif
#include <memory>
#include <gtsam/base/types.h>
@ -190,16 +192,16 @@ namespace gtsam {
/// @}
private:
#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
/// @name Serialization
/// @{
/** Serialization function */
friend class boost::serialization::access;
template<class Archive>
void serialize(Archive & ar, const unsigned int /*version*/) {
ar & BOOST_SERIALIZATION_NVP(keys_);
}
#endif
/// @}

4
gtsam/inference/FactorGraph.h
View File

@ -30,8 +30,10 @@
#include <Eigen/Core> // for Eigen::aligned_allocator
#include <boost/assign/list_inserter.hpp>
#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
#include <boost/serialization/nvp.hpp>
#include <boost/serialization/vector.hpp>
#endif
#include <string>
#include <type_traits>
@ -433,12 +435,14 @@ class FactorGraph {
inline bool exists(size_t idx) const { return idx < size() && at(idx); }
private:
#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
/** Serialization function */
friend class boost::serialization::access;
template <class ARCHIVE>
void serialize(ARCHIVE& ar, const unsigned int /*version*/) {
ar& BOOST_SERIALIZATION_NVP(factors_);
}
#endif
/// @}
}; // FactorGraph

2
gtsam/inference/LabeledSymbol.h
View File

@ -112,6 +112,7 @@ public:
private:
#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
/** Serialization function */
friend class boost::serialization::access;
template<class ARCHIVE>
@ -120,6 +121,7 @@ private:
ar & BOOST_SERIALIZATION_NVP(label_);
ar & BOOST_SERIALIZATION_NVP(j_);
}
#endif
}; // \class LabeledSymbol
/** Create a symbol key from a character, label and index, i.e. xA5. */

2
gtsam/inference/Ordering.h
View File

@ -256,12 +256,14 @@ private:
static GTSAM_EXPORT Ordering ColamdConstrained(
const VariableIndex& variableIndex, std::vector<int>& cmember);
#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
/** Serialization function */
friend class boost::serialization::access;
template<class ARCHIVE>
void serialize(ARCHIVE & ar, const unsigned int version) {
ar & BOOST_SERIALIZATION_BASE_OBJECT_NVP(Base);
}
#endif
};
/// traits

4
gtsam/inference/Symbol.h
View File

@ -21,7 +21,9 @@
#include <gtsam/base/Testable.h>
#include <gtsam/inference/Key.h>
#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
#include <boost/serialization/nvp.hpp>
#endif
#include <cstdint>
#include <functional>
@ -122,6 +124,7 @@ public:
private:
#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
/** Serialization function */
friend class boost::serialization::access;
template<class ARCHIVE>
@ -129,6 +132,7 @@ private:
ar & BOOST_SERIALIZATION_NVP(c_);
ar & BOOST_SERIALIZATION_NVP(j_);
}
#endif
};
/** Create a symbol key from a character and index, i.e. x5. */

2
gtsam/inference/VariableIndex.h
View File

@ -190,6 +190,7 @@ protected:
}
private:
#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
/** Serialization function */
friend class boost::serialization::access;
template<class ARCHIVE>
@ -198,6 +199,7 @@ private:
ar & BOOST_SERIALIZATION_NVP(nFactors_);
ar & BOOST_SERIALIZATION_NVP(nEntries_);
}
#endif
/// @}
};

2
gtsam/linear/GaussianBayesNet.h
View File

@ -256,12 +256,14 @@ namespace gtsam {
/// @}
private:
#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
/** Serialization function */
friend class boost::serialization::access;
template<class ARCHIVE>
void serialize(ARCHIVE & ar, const unsigned int /*version*/) {
ar & BOOST_SERIALIZATION_BASE_OBJECT_NVP(Base);
}
#endif
};
/// traits

2
gtsam/linear/GaussianConditional.h
View File

@ -274,6 +274,7 @@ namespace gtsam {
/// @}
private:
#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
/** Serialization function */
friend class boost::serialization::access;
template<class Archive>
@ -281,6 +282,7 @@ namespace gtsam {
ar & BOOST_SERIALIZATION_BASE_OBJECT_NVP(BaseFactor);
ar & BOOST_SERIALIZATION_BASE_OBJECT_NVP(BaseConditional);
}
#endif
}; // GaussianConditional
/// traits

2
gtsam/linear/GaussianFactor.h
View File

@ -163,12 +163,14 @@ namespace gtsam {
}
private:
#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
/** Serialization function */
friend class boost::serialization::access;
template<class ARCHIVE>
void serialize(ARCHIVE & ar, const unsigned int /*version*/) {
ar & BOOST_SERIALIZATION_BASE_OBJECT_NVP(Base);
}
#endif
}; // GaussianFactor

2
gtsam/linear/GaussianFactorGraph.h
View File

@ -403,12 +403,14 @@ namespace gtsam {
/// @}
private:
#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
/** Serialization function */
friend class boost::serialization::access;
template<class ARCHIVE>
void serialize(ARCHIVE & ar, const unsigned int /*version*/) {
ar & BOOST_SERIALIZATION_BASE_OBJECT_NVP(Base);
}
#endif
};
/**

2
gtsam/linear/HessianFactor.h
View File

@ -363,6 +363,7 @@ namespace gtsam {
friend class NonlinearFactorGraph;
friend class NonlinearClusterTree;
#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
/** Serialization function */
friend class boost::serialization::access;
template<class ARCHIVE>
@ -370,6 +371,7 @@ namespace gtsam {
ar & BOOST_SERIALIZATION_BASE_OBJECT_NVP(GaussianFactor);
ar & BOOST_SERIALIZATION_NVP(info_);
}
#endif
};
/**

6
gtsam/linear/JacobianFactor.h
View File

@ -24,8 +24,10 @@
#include <gtsam/global_includes.h>
#include <gtsam/inference/VariableSlots.h>
#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
#include <boost/serialization/version.hpp>
#include <boost/serialization/split_member.hpp>
#endif
namespace gtsam {
@ -413,6 +415,7 @@ namespace gtsam {
// be very selective on who can access these private methods:
template<typename T> friend class ExpressionFactor;
#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
/** Serialization function */
friend class boost::serialization::access;
template<class ARCHIVE>
@ -450,6 +453,7 @@ namespace gtsam {
}
BOOST_SERIALIZATION_SPLIT_MEMBER()
#endif
}; // JacobianFactor
/// traits
template<>
@ -458,7 +462,9 @@ struct traits<JacobianFactor> : public Testable<JacobianFactor> {
} // \ namespace gtsam
#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
BOOST_CLASS_VERSION(gtsam::JacobianFactor, 1)
#endif
#include <gtsam/linear/JacobianFactor-inl.h>

22
gtsam/linear/LossFunctions.h
View File

@ -23,12 +23,14 @@
#include <gtsam/base/Testable.h>
#include <gtsam/dllexport.h>
#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
#include <boost/serialization/extended_type_info.hpp>
#include <boost/serialization/nvp.hpp>
#include <boost/serialization/version.hpp>
#include <boost/serialization/optional.hpp>
#include <boost/serialization/shared_ptr.hpp>
#include <boost/serialization/singleton.hpp>
#endif
namespace gtsam {
namespace noiseModel {
@ -126,12 +128,14 @@ class GTSAM_EXPORT Base {
void reweight(Matrix &A1, Matrix &A2, Matrix &A3, Vector &error) const;
private:
#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
/** Serialization function */
friend class boost::serialization::access;
template <class ARCHIVE>
void serialize(ARCHIVE &ar, const unsigned int /*version*/) {
ar &BOOST_SERIALIZATION_NVP(reweight_);
}
#endif
};
/** "Null" robust loss function, equivalent to a Gaussian pdf noise model, or
@ -156,12 +160,14 @@ class GTSAM_EXPORT Null : public Base {
static shared_ptr Create();
private:
#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
/** Serialization function */
friend class boost::serialization::access;
template <class ARCHIVE>
void serialize(ARCHIVE &ar, const unsigned int /*version*/) {
ar &BOOST_SERIALIZATION_BASE_OBJECT_NVP(Base);
}
#endif
};
/** Implementation of the "Fair" robust error model (Zhang97ivc)
@ -188,6 +194,7 @@ class GTSAM_EXPORT Fair : public Base {
double modelParameter() const { return c_; }
private:
#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
/** Serialization function */
friend class boost::serialization::access;
template <class ARCHIVE>
@ -195,6 +202,7 @@ class GTSAM_EXPORT Fair : public Base {
ar &BOOST_SERIALIZATION_BASE_OBJECT_NVP(Base);
ar &BOOST_SERIALIZATION_NVP(c_);
}
#endif
};
/** The "Huber" robust error model (Zhang97ivc).
@ -221,6 +229,7 @@ class GTSAM_EXPORT Huber : public Base {
double modelParameter() const { return k_; }
private:
#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
/** Serialization function */
friend class boost::serialization::access;
template <class ARCHIVE>
@ -228,6 +237,7 @@ class GTSAM_EXPORT Huber : public Base {
ar &BOOST_SERIALIZATION_BASE_OBJECT_NVP(Base);
ar &BOOST_SERIALIZATION_NVP(k_);
}
#endif
};
/** Implementation of the "Cauchy" robust error model (Lee2013IROS).
@ -259,6 +269,7 @@ class GTSAM_EXPORT Cauchy : public Base {
double modelParameter() const { return k_; }
private:
#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
/** Serialization function */
friend class boost::serialization::access;
template <class ARCHIVE>
@ -267,6 +278,7 @@ class GTSAM_EXPORT Cauchy : public Base {
ar &BOOST_SERIALIZATION_NVP(k_);
ar &BOOST_SERIALIZATION_NVP(ksquared_);
}
#endif
};
/** Implementation of the "Tukey" robust error model (Zhang97ivc).
@ -293,6 +305,7 @@ class GTSAM_EXPORT Tukey : public Base {
double modelParameter() const { return c_; }
private:
#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
/** Serialization function */
friend class boost::serialization::access;
template <class ARCHIVE>
@ -300,6 +313,7 @@ class GTSAM_EXPORT Tukey : public Base {
ar &BOOST_SERIALIZATION_BASE_OBJECT_NVP(Base);
ar &BOOST_SERIALIZATION_NVP(c_);
}
#endif
};
/** Implementation of the "Welsch" robust error model (Zhang97ivc).
@ -326,6 +340,7 @@ class GTSAM_EXPORT Welsch : public Base {
double modelParameter() const { return c_; }
private:
#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
/** Serialization function */
friend class boost::serialization::access;
template <class ARCHIVE>
@ -334,6 +349,7 @@ class GTSAM_EXPORT Welsch : public Base {
ar &BOOST_SERIALIZATION_NVP(c_);
ar &BOOST_SERIALIZATION_NVP(csquared_);
}
#endif
};
/** Implementation of the "Geman-McClure" robust error model (Zhang97ivc).
@ -363,6 +379,7 @@ class GTSAM_EXPORT GemanMcClure : public Base {
double c_;
private:
#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
/** Serialization function */
friend class boost::serialization::access;
template <class ARCHIVE>
@ -370,6 +387,7 @@ class GTSAM_EXPORT GemanMcClure : public Base {
ar &BOOST_SERIALIZATION_BASE_OBJECT_NVP(Base);
ar &BOOST_SERIALIZATION_NVP(c_);
}
#endif
};
/** DCS implements the Dynamic Covariance Scaling robust error model
@ -401,6 +419,7 @@ class GTSAM_EXPORT DCS : public Base {
double c_;
private:
#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
/** Serialization function */
friend class boost::serialization::access;
template <class ARCHIVE>
@ -408,6 +427,7 @@ class GTSAM_EXPORT DCS : public Base {
ar &BOOST_SERIALIZATION_BASE_OBJECT_NVP(Base);
ar &BOOST_SERIALIZATION_NVP(c_);
}
#endif
};
/** L2WithDeadZone implements a standard L2 penalty, but with a dead zone of
@ -439,6 +459,7 @@ class GTSAM_EXPORT L2WithDeadZone : public Base {
double modelParameter() const { return k_; }
private:
#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
/** Serialization function */
friend class boost::serialization::access;
template <class ARCHIVE>
@ -446,6 +467,7 @@ class GTSAM_EXPORT L2WithDeadZone : public Base {
ar &BOOST_SERIALIZATION_BASE_OBJECT_NVP(Base);
ar &BOOST_SERIALIZATION_NVP(k_);
}
#endif
};
} // namespace mEstimator

17
gtsam/linear/NoiseModel.h
View File

@ -24,10 +24,12 @@
#include <gtsam/dllexport.h>
#include <gtsam/linear/LossFunctions.h>
#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
#include <boost/serialization/nvp.hpp>
#include <boost/serialization/extended_type_info.hpp>
#include <boost/serialization/singleton.hpp>
#include <boost/serialization/shared_ptr.hpp>
#endif
#include <optional>
@ -139,12 +141,14 @@ namespace gtsam {
virtual double weight(const Vector& v) const { return 1.0; }
private:
#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
/** Serialization function */
friend class boost::serialization::access;
template<class ARCHIVE>
void serialize(ARCHIVE & ar, const unsigned int /*version*/) {
ar & BOOST_SERIALIZATION_NVP(dim_);
}
#endif
};
//---------------------------------------------------------------------------------------
@ -263,6 +267,7 @@ namespace gtsam {
virtual Matrix covariance() const;
private:
#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
/** Serialization function */
friend class boost::serialization::access;
template<class ARCHIVE>
@ -270,7 +275,7 @@ namespace gtsam {
ar & BOOST_SERIALIZATION_BASE_OBJECT_NVP(Base);
ar & BOOST_SERIALIZATION_NVP(sqrt_information_);
}
#endif
}; // Gaussian
//---------------------------------------------------------------------------------------
@ -356,6 +361,7 @@ namespace gtsam {
}
private:
#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
/** Serialization function */
friend class boost::serialization::access;
template<class ARCHIVE>
@ -364,6 +370,7 @@ namespace gtsam {
ar & BOOST_SERIALIZATION_NVP(sigmas_);
ar & BOOST_SERIALIZATION_NVP(invsigmas_);
}
#endif
}; // Diagonal
//---------------------------------------------------------------------------------------
@ -499,6 +506,7 @@ namespace gtsam {
shared_ptr unit() const;
private:
#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
/** Serialization function */
friend class boost::serialization::access;
template<class ARCHIVE>
@ -506,6 +514,7 @@ namespace gtsam {
ar & BOOST_SERIALIZATION_BASE_OBJECT_NVP(Diagonal);
ar & BOOST_SERIALIZATION_NVP(mu_);
}
#endif
}; // Constrained
@ -567,6 +576,7 @@ namespace gtsam {
inline double sigma() const { return sigma_; }
private:
#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
/** Serialization function */
friend class boost::serialization::access;
template<class ARCHIVE>
@ -575,6 +585,7 @@ namespace gtsam {
ar & BOOST_SERIALIZATION_NVP(sigma_);
ar & BOOST_SERIALIZATION_NVP(invsigma_);
}
#endif
};
@ -616,12 +627,14 @@ namespace gtsam {
void unwhitenInPlace(Eigen::Block<Vector>& /*v*/) const override {}
private:
#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
/** Serialization function */
friend class boost::serialization::access;
template<class ARCHIVE>
void serialize(ARCHIVE & ar, const unsigned int /*version*/) {
ar & BOOST_SERIALIZATION_BASE_OBJECT_NVP(Isotropic);
}
#endif
};
/**
@ -705,6 +718,7 @@ namespace gtsam {
const RobustModel::shared_ptr &robust, const NoiseModel::shared_ptr noise);
private:
#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
/** Serialization function */
friend class boost::serialization::access;
template<class ARCHIVE>
@ -713,6 +727,7 @@ namespace gtsam {
ar & boost::serialization::make_nvp("robust_", const_cast<RobustModel::shared_ptr&>(robust_));
ar & boost::serialization::make_nvp("noise_", const_cast<NoiseModel::shared_ptr&>(noise_));
}
#endif
};
// Helper function

4
gtsam/linear/SubgraphBuilder.cpp
View File

@ -27,7 +27,9 @@
#include <boost/algorithm/string.hpp>
#include <boost/archive/text_iarchive.hpp>
#include <boost/archive/text_oarchive.hpp>
#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
#include <boost/serialization/vector.hpp>
#endif
#include <algorithm>
#include <cmath>
@ -91,6 +93,7 @@ vector<size_t> Subgraph::edgeIndices() const {
return eid;
}
#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
/****************************************************************************/
void Subgraph::save(const std::string &fn) const {
std::ofstream os(fn.c_str());
@ -108,6 +111,7 @@ Subgraph Subgraph::load(const std::string &fn) {
is.close();
return subgraph;
}
#endif
/****************************************************************************/
ostream &operator<<(ostream &os, const Subgraph::Edge &edge) {

10
gtsam/linear/SubgraphBuilder.h
View File

@ -21,8 +21,10 @@
#include <gtsam/base/types.h>
#include <gtsam/dllexport.h>
#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
#include <boost/serialization/version.hpp>
#include <boost/serialization/nvp.hpp>
#endif
#include <memory>
#include <vector>
@ -49,12 +51,14 @@ class GTSAM_EXPORT Subgraph {
friend std::ostream &operator<<(std::ostream &os, const Edge &edge);
private:
#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
friend class boost::serialization::access;
template <class Archive>
void serialize(Archive &ar, const unsigned int /*version*/) {
ar &BOOST_SERIALIZATION_NVP(index);
ar &BOOST_SERIALIZATION_NVP(weight);
}
#endif
};
typedef std::vector<Edge> Edges;
@ -80,16 +84,18 @@ class GTSAM_EXPORT Subgraph {
iterator end() { return edges_.end(); }
const_iterator end() const { return edges_.end(); }
void save(const std::string &fn) const;
static Subgraph load(const std::string &fn);
friend std::ostream &operator<<(std::ostream &os, const Subgraph &subgraph);
private:
#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
friend class boost::serialization::access;
template <class Archive>
void serialize(Archive &ar, const unsigned int /*version*/) {
ar &BOOST_SERIALIZATION_NVP(edges_);
}
void save(const std::string &fn) const;
static Subgraph load(const std::string &fn);
#endif
};
/****************************************************************************/

2
gtsam/linear/VectorValues.h
View File

@ -368,12 +368,14 @@ namespace gtsam {
/// @}
private:
#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
/** Serialization function */
friend class boost::serialization::access;
template<class ARCHIVE>
void serialize(ARCHIVE & ar, const unsigned int /*version*/) {
ar & BOOST_SERIALIZATION_NVP(values_);
}
#endif
}; // VectorValues definition
/// traits

19
gtsam/linear/tests/CMakeLists.txt
View File

@ -1,6 +1,15 @@
gtsamAddTestsGlob(linear "test*.cpp" "" "gtsam")
if(MSVC)
set_property(SOURCE "${CMAKE_CURRENT_SOURCE_DIR}/testSerializationLinear.cpp"
APPEND PROPERTY COMPILE_FLAGS "/bigobj")
# if GTSAM_ENABLE_BOOST_SERIALIZATION is OFF then exclude some tests
if (NOT GTSAM_ENABLE_BOOST_SERIALIZATION)
# create a semicolon seperated list of files to exclude
set(EXCLUDE_TESTS "testSerializationLinear.cpp")
else()
set(EXCLUDE_TESTS "")
endif()
gtsamAddTestsGlob(linear "test*.cpp" "${EXCLUDE_TESTS}" "gtsam")
# Set properties to serialization target if Boost serialization is enabled and MSVC
if (GTSAM_ENABLE_BOOST_SERIALIZATION AND MSVC)
set_property(SOURCE "${CMAKE_CURRENT_SOURCE_DIR}/testSerializationLinear.cpp"
APPEND PROPERTY COMPILE_FLAGS "/bigobj")
endif()

4
gtsam/navigation/AHRSFactor.h
View File

@ -120,6 +120,7 @@ class GTSAM_EXPORT PreintegratedAhrsMeasurements : public PreintegratedRotation
private:
#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
/** Serialization function */
friend class boost::serialization::access;
template<class ARCHIVE>
@ -128,6 +129,7 @@ private:
ar & BOOST_SERIALIZATION_NVP(p_);
ar & BOOST_SERIALIZATION_NVP(biasHat_);
}
#endif
};
class GTSAM_EXPORT AHRSFactor: public NoiseModelFactorN<Rot3, Rot3, Vector3> {
@ -206,6 +208,7 @@ public:
private:
#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
/** Serialization function */
friend class boost::serialization::access;
template<class ARCHIVE>
@ -216,6 +219,7 @@ private:
boost::serialization::base_object<Base>(*this));
ar & BOOST_SERIALIZATION_NVP(_PIM_);
}
#endif
};
// AHRSFactor

6
gtsam/navigation/AttitudeFactor.h
View File

@ -63,6 +63,7 @@ public:
return bRef_;
}
#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
/** Serialization function */
friend class boost::serialization::access;
template<class ARCHIVE>
@ -70,6 +71,7 @@ public:
ar & boost::serialization::make_nvp("nZ_", nZ_);
ar & boost::serialization::make_nvp("bRef_", bRef_);
}
#endif
};
/**
@ -130,6 +132,7 @@ public:
private:
#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
/** Serialization function */
friend class boost::serialization::access;
template<class ARCHIVE>
@ -140,6 +143,7 @@ private:
ar & boost::serialization::make_nvp("AttitudeFactor",
boost::serialization::base_object<AttitudeFactor>(*this));
}
#endif
public:
GTSAM_MAKE_ALIGNED_OPERATOR_NEW
@ -213,6 +217,7 @@ public:
private:
#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
/** Serialization function */
friend class boost::serialization::access;
template<class ARCHIVE>
@ -223,6 +228,7 @@ private:
ar & boost::serialization::make_nvp("AttitudeFactor",
boost::serialization::base_object<AttitudeFactor>(*this));
}
#endif
public:
GTSAM_MAKE_ALIGNED_OPERATOR_NEW

2
gtsam/navigation/BarometricFactor.h
View File

@ -97,6 +97,7 @@ class GTSAM_EXPORT BarometricFactor : public NoiseModelFactorN<Pose3, double> {
};
private:
#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION ///
/// Serialization function
friend class boost::serialization::access;
template <class ARCHIVE>
@ -107,6 +108,7 @@ class GTSAM_EXPORT BarometricFactor : public NoiseModelFactorN<Pose3, double> {
boost::serialization::base_object<Base>(*this));
ar& BOOST_SERIALIZATION_NVP(nT_);
}
#endif
};
} // namespace gtsam

2
gtsam/navigation/CombinedImuFactor.cpp
View File

@ -21,7 +21,9 @@
**/
#include <gtsam/navigation/CombinedImuFactor.h>
#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
#include <boost/serialization/export.hpp>
#endif
/* External or standard includes */
#include <ostream>

4
gtsam/navigation/CombinedImuFactor.h
View File

@ -101,6 +101,7 @@ struct GTSAM_EXPORT PreintegrationCombinedParams : PreintegrationParams {
private:
#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
/** Serialization function */
friend class boost::serialization::access;
template <class ARCHIVE>
@ -111,6 +112,7 @@ private:
ar & BOOST_SERIALIZATION_NVP(biasOmegaCovariance);
ar & BOOST_SERIALIZATION_NVP(biasAccOmegaInt);
}
#endif
public:
GTSAM_MAKE_ALIGNED_OPERATOR_NEW
@ -223,6 +225,7 @@ public:
/// @}
private:
#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION ///
/// Serialization function
friend class boost::serialization::access;
template <class ARCHIVE>
@ -231,6 +234,7 @@ public:
ar& BOOST_SERIALIZATION_BASE_OBJECT_NVP(PreintegrationType);
ar& BOOST_SERIALIZATION_NVP(preintMeasCov_);
}
#endif
public:
GTSAM_MAKE_ALIGNED_OPERATOR_NEW

4
gtsam/navigation/GPSFactor.h
View File

@ -97,6 +97,7 @@ public:
private:
#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION ///
/// Serialization function
friend class boost::serialization::access;
template<class ARCHIVE>
@ -107,6 +108,7 @@ private:
boost::serialization::base_object<Base>(*this));
ar & BOOST_SERIALIZATION_NVP(nT_);
}
#endif
};
/**
@ -164,6 +166,7 @@ public:
private:
#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
/// Serialization function
friend class boost::serialization::access;
template<class ARCHIVE>
@ -174,6 +177,7 @@ private:
boost::serialization::base_object<Base>(*this));
ar & BOOST_SERIALIZATION_NVP(nT_);
}
#endif
};
} /// namespace gtsam

4
gtsam/navigation/ImuBias.h
View File

@ -20,7 +20,9 @@
#include <gtsam/base/OptionalJacobian.h>
#include <gtsam/base/VectorSpace.h>
#include <iosfwd>
#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
#include <boost/serialization/nvp.hpp>
#endif
namespace gtsam {
@ -140,6 +142,7 @@ private:
/// @name Advanced Interface
/// @{
#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
/** Serialization function */
friend class boost::serialization::access;
template<class ARCHIVE>
@ -147,6 +150,7 @@ private:
ar & BOOST_SERIALIZATION_NVP(biasAcc_);
ar & BOOST_SERIALIZATION_NVP(biasGyro_);
}
#endif
public:

4
gtsam/navigation/ImuFactor.h
View File

@ -146,6 +146,7 @@ public:
#endif
private:
#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION ///
/// Serialization function
friend class boost::serialization::access;
template<class ARCHIVE>
@ -154,6 +155,7 @@ public:
ar & BOOST_SERIALIZATION_BASE_OBJECT_NVP(PreintegrationType);
ar & BOOST_SERIALIZATION_NVP(preintMeasCov_);
}
#endif
};
/**
@ -246,6 +248,7 @@ public:
private:
/** Serialization function */
#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
friend class boost::serialization::access;
template<class ARCHIVE>
void serialize(ARCHIVE & ar, const unsigned int /*version*/) {
@ -254,6 +257,7 @@ public:
boost::serialization::base_object<Base>(*this));
ar & BOOST_SERIALIZATION_NVP(_PIM_);
}
#endif
};
// class ImuFactor

2
gtsam/navigation/MagPoseFactor.h
View File

@ -132,6 +132,7 @@ class MagPoseFactor: public NoiseModelFactorN<POSE> {
}
private:
#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION ///
/// Serialization function.
friend class boost::serialization::access;
template<class ARCHIVE>
@ -144,6 +145,7 @@ class MagPoseFactor: public NoiseModelFactorN<POSE> {
ar & BOOST_SERIALIZATION_NVP(bias_);
ar & BOOST_SERIALIZATION_NVP(body_P_sensor_);
}
#endif
}; // \class MagPoseFactor
} /// namespace gtsam

2
gtsam/navigation/ManifoldPreintegration.h
View File

@ -113,6 +113,7 @@ public:
/// @}
private:
#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
/** Serialization function */
friend class boost::serialization::access;
template<class ARCHIVE>
@ -126,6 +127,7 @@ private:
ar & BOOST_SERIALIZATION_NVP(delVdelBiasAcc_);
ar & BOOST_SERIALIZATION_NVP(delVdelBiasOmega_);
}
#endif
};
} /// namespace gtsam

2
gtsam/navigation/NavState.h
View File

@ -190,6 +190,7 @@ public:
private:
/// @{
/// serialization
#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION ///
friend class boost::serialization::access;
template<class ARCHIVE>
void serialize(ARCHIVE & ar, const unsigned int /*version*/) {
@ -197,6 +198,7 @@ private:
ar & BOOST_SERIALIZATION_NVP(t_);
ar & BOOST_SERIALIZATION_NVP(v_);
}
#endif
/// @}
};

4
gtsam/navigation/PreintegratedRotation.h
View File

@ -60,6 +60,7 @@ struct GTSAM_EXPORT PreintegratedRotationParams {
std::optional<Pose3> getBodyPSensor() const { return body_P_sensor; }
private:
#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
/** Serialization function */
friend class boost::serialization::access;
template<class ARCHIVE>
@ -75,6 +76,7 @@ struct GTSAM_EXPORT PreintegratedRotationParams {
ar & BOOST_SERIALIZATION_NVP(*omegaCoriolis);
}
}
#endif
#ifdef GTSAM_USE_QUATERNIONS
// Align if we are using Quaternions
@ -179,6 +181,7 @@ class GTSAM_EXPORT PreintegratedRotation {
/// @}
private:
#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
/** Serialization function */
friend class boost::serialization::access;
template <class ARCHIVE>
@ -188,6 +191,7 @@ class GTSAM_EXPORT PreintegratedRotation {
ar& BOOST_SERIALIZATION_NVP(deltaRij_);
ar& BOOST_SERIALIZATION_NVP(delRdelBiasOmega_);
}
#endif
#ifdef GTSAM_USE_QUATERNIONS
// Align if we are using Quaternions

2
gtsam/navigation/PreintegrationBase.h
View File

@ -173,6 +173,7 @@ class GTSAM_EXPORT PreintegrationBase {
OptionalJacobian<9, 6> H5 = {}) const;
private:
#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
/** Serialization function */
friend class boost::serialization::access;
template<class ARCHIVE>
@ -181,6 +182,7 @@ class GTSAM_EXPORT PreintegrationBase {
ar & BOOST_SERIALIZATION_NVP(biasHat_);
ar & BOOST_SERIALIZATION_NVP(deltaTij_);
}
#endif
public:
GTSAM_MAKE_ALIGNED_OPERATOR_NEW

2
gtsam/navigation/PreintegrationParams.h
View File

@ -71,6 +71,7 @@ struct GTSAM_EXPORT PreintegrationParams: PreintegratedRotationParams {
protected:
#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
/** Serialization function */
friend class boost::serialization::access;
template<class ARCHIVE>
@ -82,6 +83,7 @@ protected:
ar & BOOST_SERIALIZATION_NVP(use2ndOrderCoriolis);
ar & BOOST_SERIALIZATION_NVP(n_gravity);
}
#endif
#ifdef GTSAM_USE_QUATERNIONS
// Align if we are using Quaternions

2
gtsam/navigation/TangentPreintegration.h
View File

@ -127,6 +127,7 @@ public:
/// @}
private:
#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
/** Serialization function */
friend class boost::serialization::access;
template<class ARCHIVE>
@ -137,6 +138,7 @@ private:
ar & BOOST_SERIALIZATION_NVP(preintegrated_H_biasAcc_);
ar & BOOST_SERIALIZATION_NVP(preintegrated_H_biasOmega_);
}
#endif
public:
GTSAM_MAKE_ALIGNED_OPERATOR_NEW

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