From c5eb449e08022363a431c507f7ca5410190a195b Mon Sep 17 00:00:00 2001
From: Ayush Baid <ayushrakeshbaid@gmail.com>
Date: Mon, 8 Mar 2021 14:58:50 -0500
Subject: [PATCH] Squashed 'wrap/' changes from b28b3570d..d37b8a972

d37b8a972 Merge pull request #31 from ayushbaid/feature/pickle
efd4a0fb4 removing tab
42fd231f3 adding newline for test compare
0aa316150 removing extra brackets
7fe1d7d0f adding pickle code to expected file
9c3ab7a8b fixing string format for new classname
2f89284e8 moving pickle support with the serialization code
5a8abc916 adding pickle support for select classes using serialization

git-subtree-dir: wrap
git-subtree-split: d37b8a972f6f3aa99a657831102fc22a73b59f21
---
 gtwrap/pybind_wrapper.py                  | 13 ++++++++++++-
 tests/expected-python/geometry_pybind.cpp | 20 ++++++++++++++++++++
 2 files changed, 32 insertions(+), 1 deletion(-)

diff --git a/gtwrap/pybind_wrapper.py b/gtwrap/pybind_wrapper.py
index c0e88e37a..ec5480785 100755
--- a/gtwrap/pybind_wrapper.py
+++ b/gtwrap/pybind_wrapper.py
@@ -75,7 +75,17 @@ class PybindWrapper(object):
                         []({class_inst} self, string serialized){{
                             gtsam::deserialize(serialized, *self);
                         }}, py::arg("serialized"))
-                    '''.format(class_inst=cpp_class + '*'))
+                    .def(py::pickle(
+                        [](const {cpp_class} &a){{ // __getstate__
+                            /* Returns a string that encodes the state of the object */
+                            return py::make_tuple(gtsam::serialize(a));
+                        }},
+                        [](py::tuple t){{ // __setstate__
+                            {cpp_class} obj;
+                            gtsam::deserialize(t[0].cast<std::string>(), obj);
+                            return obj;
+                        }}))
+                    '''.format(class_inst=cpp_class + '*', cpp_class=cpp_class))
 
         is_method = isinstance(method, instantiator.InstantiatedMethod)
         is_static = isinstance(method, parser.StaticMethod)
@@ -318,3 +328,4 @@ class PybindWrapper(object):
             wrapped_namespace=wrapped_namespace,
             boost_class_export=boost_class_export,
         )
+
diff --git a/tests/expected-python/geometry_pybind.cpp b/tests/expected-python/geometry_pybind.cpp
index 3eee55bf4..53d33eabf 100644
--- a/tests/expected-python/geometry_pybind.cpp
+++ b/tests/expected-python/geometry_pybind.cpp
@@ -47,6 +47,16 @@ PYBIND11_MODULE(geometry_py, m_) {
     [](gtsam::Point2* self, string serialized){
         gtsam::deserialize(serialized, *self);
     }, py::arg("serialized"))
+.def(py::pickle(
+    [](const gtsam::Point2 &a){ // __getstate__
+        /* Returns a string that encodes the state of the object */
+        return py::make_tuple(gtsam::serialize(a));
+    },
+    [](py::tuple t){ // __setstate__
+        gtsam::Point2 obj;
+        gtsam::deserialize(t[0].cast<std::string>(), obj);
+        return obj;
+    }))
 ;
 
     py::class_<gtsam::Point3, std::shared_ptr<gtsam::Point3>>(m_gtsam, "Point3")
@@ -61,6 +71,16 @@ PYBIND11_MODULE(geometry_py, m_) {
     [](gtsam::Point3* self, string serialized){
         gtsam::deserialize(serialized, *self);
     }, py::arg("serialized"))
+.def(py::pickle(
+    [](const gtsam::Point3 &a){ // __getstate__
+        /* Returns a string that encodes the state of the object */
+        return py::make_tuple(gtsam::serialize(a));
+    },
+    [](py::tuple t){ // __setstate__
+        gtsam::Point3 obj;
+        gtsam::deserialize(t[0].cast<std::string>(), obj);
+        return obj;
+    }))
 
         .def_static("staticFunction",[](){return gtsam::Point3::staticFunction();})
         .def_static("StaticFunctionRet",[]( double z){return gtsam::Point3::StaticFunctionRet(z);}, py::arg("z"));