From 3793ad3e0ee8c472c09e6a627138a5c2505b3d8b Mon Sep 17 00:00:00 2001
From: Duy-Nguyen Ta <thduynguyen@gmail.com>
Date: Fri, 3 Feb 2012 06:07:31 +0000
Subject: [PATCH 1/2] remove redundant typedef Values in ISAM2.h

---
 gtsam/nonlinear/ISAM2.h | 1 -
 1 file changed, 1 deletion(-)

diff --git a/gtsam/nonlinear/ISAM2.h b/gtsam/nonlinear/ISAM2.h
index 62a86cf64..0f8776ec2 100644
--- a/gtsam/nonlinear/ISAM2.h
+++ b/gtsam/nonlinear/ISAM2.h
@@ -314,7 +314,6 @@ public:
 
   typedef BayesTree<CONDITIONAL,ISAM2Clique<CONDITIONAL> > Base; ///< The BayesTree base class
   typedef ISAM2<CONDITIONAL> This; ///< This class
-  typedef Values Values;
   typedef GRAPH Graph;
 
   /** Create an empty ISAM2 instance */

From 191c3e610a885f178b9197269a7d4f50e94a4f7f Mon Sep 17 00:00:00 2001
From: Duy-Nguyen Ta <thduynguyen@gmail.com>
Date: Fri, 3 Feb 2012 06:15:59 +0000
Subject: [PATCH 2/2] enable serialization for Values.

---
 gtsam/base/DerivedValue.h   | 11 ++++++++++-
 gtsam/base/Value.h          | 12 +++++++++++-
 gtsam/nonlinear/Values.h    |  9 +++++++++
 tests/testSerialization.cpp |  5 +++++
 4 files changed, 35 insertions(+), 2 deletions(-)

diff --git a/gtsam/base/DerivedValue.h b/gtsam/base/DerivedValue.h
index f59303675..92f294848 100644
--- a/gtsam/base/DerivedValue.h
+++ b/gtsam/base/DerivedValue.h
@@ -18,7 +18,16 @@ private:
 	struct PoolTag { };
 
 protected:
-	DerivedValue() {}
+	DerivedValue() {
+  	// Register the base/derived class relationship for boost::serialization
+		// See: http://www.boost.org/doc/libs/1_45_0/libs/serialization/doc/serialization.html#runtimecasting
+		static bool first = true;
+		if (first) {
+			boost::serialization::void_cast_register<DERIVED, Value>(
+					static_cast<DERIVED *>(NULL), static_cast<Value *>(NULL) );
+			first = false;
+		}
+	}
 
 public:
 
diff --git a/gtsam/base/Value.h b/gtsam/base/Value.h
index 8d0b2dd05..99b5248d6 100644
--- a/gtsam/base/Value.h
+++ b/gtsam/base/Value.h
@@ -19,7 +19,7 @@
 #pragma once
 
 #include <memory>
-
+#include <boost/serialization/assume_abstract.hpp>
 #include <gtsam/base/Vector.h>
 
 namespace gtsam {
@@ -142,6 +142,16 @@ namespace gtsam {
     /** Virutal destructor */
     virtual ~Value() {}
 
+  private:
+  	/** Serialization function */
+  	friend class boost::serialization::access;
+  	template<class ARCHIVE>
+  	void serialize(ARCHIVE & ar, const unsigned int version) {
+  		std::cout << "value serialization" << std::endl;
+  	}
+
   };
 
 } /* namespace gtsam */
+
+BOOST_SERIALIZATION_ASSUME_ABSTRACT(gtsam::Value)
diff --git a/gtsam/nonlinear/Values.h b/gtsam/nonlinear/Values.h
index ae06daa74..2a721d591 100644
--- a/gtsam/nonlinear/Values.h
+++ b/gtsam/nonlinear/Values.h
@@ -32,6 +32,7 @@
 #include <boost/iterator/transform_iterator.hpp>
 #include <boost/function.hpp>
 #include <boost/bind.hpp>
+#include <boost/ptr_container/serialize_ptr_map.hpp>
 
 #include <gtsam/base/Value.h>
 #include <gtsam/base/FastMap.h>
@@ -241,6 +242,14 @@ namespace gtsam {
      */
     Ordering::shared_ptr orderingArbitrary(Index firstVar = 0) const;
 
+  private:
+  	/** Serialization function */
+  	friend class boost::serialization::access;
+  	template<class ARCHIVE>
+  	void serialize(ARCHIVE & ar, const unsigned int version) {
+  		ar & BOOST_SERIALIZATION_NVP(values_);
+  	}
+
   };
 
   /* ************************************************************************* */
diff --git a/tests/testSerialization.cpp b/tests/testSerialization.cpp
index f2e740180..68f817f8b 100644
--- a/tests/testSerialization.cpp
+++ b/tests/testSerialization.cpp
@@ -37,6 +37,7 @@
 #include <boost/archive/xml_iarchive.hpp>
 #include <boost/archive/xml_oarchive.hpp>
 
+#include <gtsam/geometry/Point2.h>
 // whether to print the serialized text to stdout
 const bool verbose = false;
 
@@ -441,6 +442,10 @@ TEST (Serialization, gaussianISAM) {
 BOOST_CLASS_EXPORT_GUID(gtsam::simulated2D::Prior,       "gtsam::simulated2D::Prior"      );
 BOOST_CLASS_EXPORT_GUID(gtsam::simulated2D::Odometry,    "gtsam::simulated2D::Odometry"   );
 BOOST_CLASS_EXPORT_GUID(gtsam::simulated2D::Measurement, "gtsam::simulated2D::Measurement");
+BOOST_CLASS_EXPORT(gtsam::Point2)
+BOOST_CLASS_EXPORT(gtsam::Point3)
+BOOST_CLASS_EXPORT(gtsam::Pose2)
+BOOST_CLASS_EXPORT(gtsam::Pose3)
 /* ************************************************************************* */
 TEST (Serialization, smallExample) {
 	using namespace example;