From f244310250f25424565fdb0d66f64e013689b6cb Mon Sep 17 00:00:00 2001
From: Alex Cunningham <alexgcunningham@gmail.com>
Date: Wed, 30 Mar 2011 03:07:14 +0000
Subject: [PATCH] Fixed serialization for factors and nonlinear factors

---
 gtsam/inference/Factor.h          | 2 +-
 gtsam/nonlinear/NonlinearFactor.h | 3 ++-
 2 files changed, 3 insertions(+), 2 deletions(-)

diff --git a/gtsam/inference/Factor.h b/gtsam/inference/Factor.h
index bc56dfb31..e9ac657ea 100644
--- a/gtsam/inference/Factor.h
+++ b/gtsam/inference/Factor.h
@@ -175,7 +175,7 @@ public:
    */
   size_t size() const { return keys_.size(); }
 
-protected:
+private:
 
   /** Serialization function */
   friend class boost::serialization::access;
diff --git a/gtsam/nonlinear/NonlinearFactor.h b/gtsam/nonlinear/NonlinearFactor.h
index 2f983cc0c..ffd4a2585 100644
--- a/gtsam/nonlinear/NonlinearFactor.h
+++ b/gtsam/nonlinear/NonlinearFactor.h
@@ -152,8 +152,9 @@ namespace gtsam {
 		friend class boost::serialization::access;
 		template<class ARCHIVE>
 		void serialize(ARCHIVE & ar, const unsigned int version) {
+			ar & boost::serialization::make_nvp("Factor",
+					boost::serialization::base_object<Factor<Symbol> >(*this));
 			ar & BOOST_SERIALIZATION_NVP(noiseModel_);
-			ar & BOOST_SERIALIZATION_NVP(keys_);
 		}
 
 	}; // NonlinearFactor