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add serialization for HybridFactor and HybridConditional

release/4.3a0
Varun Agrawal 2022-09-01 00:03:31 -04:00
parent bfb865c12e
commit eb5092897b
2 changed files with 23 additions and 0 deletions
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9
gtsam/hybrid/HybridConditional.h
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@ -178,6 +178,15 @@ class GTSAM_EXPORT HybridConditional
/// Get the type-erased pointer to the inner type /// Get the type-erased pointer to the inner type
boost::shared_ptr<Factor> inner() { return inner_; } boost::shared_ptr<Factor> inner() { return inner_; }
private:
/** Serialization function */
friend class boost::serialization::access;
template <class Archive>
void serialize(Archive& ar, const unsigned int /*version*/) {
ar& BOOST_SERIALIZATION_BASE_OBJECT_NVP(BaseFactor);
ar& BOOST_SERIALIZATION_BASE_OBJECT_NVP(BaseConditional);
}
}; // HybridConditional }; // HybridConditional
// traits // traits

14
gtsam/hybrid/HybridFactor.h
View File

@ -47,6 +47,7 @@ class GTSAM_EXPORT HybridFactor : public Factor {
bool isContinuous_ = false; bool isContinuous_ = false;
bool isHybrid_ = false; bool isHybrid_ = false;
// TODO(Varun) remove
size_t nrContinuous_ = 0; size_t nrContinuous_ = 0;
protected: protected:
@ -129,6 +130,19 @@ class GTSAM_EXPORT HybridFactor : public Factor {
const KeyVector &continuousKeys() const { return continuousKeys_; } const KeyVector &continuousKeys() const { return continuousKeys_; }
/// @} /// @}
private:
/** 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);
ar &BOOST_SERIALIZATION_NVP(isDiscrete_);
ar &BOOST_SERIALIZATION_NVP(isContinuous_);
ar &BOOST_SERIALIZATION_NVP(isHybrid_);
ar &BOOST_SERIALIZATION_NVP(discreteKeys_);
ar &BOOST_SERIALIZATION_NVP(continuousKeys_);
}
}; };
// HybridFactor // HybridFactor