From fe81828a2cc0514492aa23868b547873a736743c Mon Sep 17 00:00:00 2001
From: jing <jdong@gatech.edu>
Date: Fri, 11 Apr 2014 15:33:35 -0400
Subject: [PATCH] add Serialization function to Unit3 and EssentialMatrix
 classes

---
 gtsam/geometry/EssentialMatrix.h | 27 +++++++++++++++++++++++++++
 gtsam/geometry/Unit3.h           | 18 ++++++++++++++++++
 2 files changed, 45 insertions(+)

diff --git a/gtsam/geometry/EssentialMatrix.h b/gtsam/geometry/EssentialMatrix.h
index 7de68c7a1..adde77511 100644
--- a/gtsam/geometry/EssentialMatrix.h
+++ b/gtsam/geometry/EssentialMatrix.h
@@ -157,6 +157,33 @@ public:
 
   /// @}
 
+private:
+
+  /// @name Advanced Interface
+  /// @{
+
+  /** Serialization function */
+  friend class boost::serialization::access;
+  template<class ARCHIVE>
+    void serialize(ARCHIVE & ar, const unsigned int version) {
+      ar & boost::serialization::make_nvp("EssentialMatrix",
+          boost::serialization::base_object<Value>(*this));
+      ar & BOOST_SERIALIZATION_NVP(aRb_);
+      ar & BOOST_SERIALIZATION_NVP(aTb_);
+
+      ar & boost::serialization::make_nvp("E11", E_(0,0));
+      ar & boost::serialization::make_nvp("E12", E_(0,1));
+      ar & boost::serialization::make_nvp("E13", E_(0,2));
+      ar & boost::serialization::make_nvp("E21", E_(1,0));
+      ar & boost::serialization::make_nvp("E22", E_(1,1));
+      ar & boost::serialization::make_nvp("E23", E_(1,2));
+      ar & boost::serialization::make_nvp("E31", E_(2,0));
+      ar & boost::serialization::make_nvp("E32", E_(2,1));
+      ar & boost::serialization::make_nvp("E33", E_(2,2));
+    }
+
+  /// @}
+
 };
 
 } // gtsam
diff --git a/gtsam/geometry/Unit3.h b/gtsam/geometry/Unit3.h
index 9e2ef0945..8eac7f1a8 100644
--- a/gtsam/geometry/Unit3.h
+++ b/gtsam/geometry/Unit3.h
@@ -136,6 +136,24 @@ public:
   Vector localCoordinates(const Unit3& s) const;
 
   /// @}
+
+private:
+
+  /// @name Advanced Interface
+  /// @{
+
+  /** Serialization function */
+  friend class boost::serialization::access;
+  template<class ARCHIVE>
+    void serialize(ARCHIVE & ar, const unsigned int version) {
+      ar & boost::serialization::make_nvp("Unit3",
+          boost::serialization::base_object<Value>(*this));
+      ar & BOOST_SERIALIZATION_NVP(p_);
+      ar & BOOST_SERIALIZATION_NVP(B_);
+    }
+
+  /// @}
+
 };
 
 } // namespace gtsam