69 lines
2.0 KiB
C++
69 lines
2.0 KiB
C++
/* ----------------------------------------------------------------------------
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* GTSAM Copyright 2010, Georgia Tech Research Corporation,
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* Atlanta, Georgia 30332-0415
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* All Rights Reserved
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* Authors: Frank Dellaert, et al. (see THANKS for the full author list)
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* See LICENSE for the license information
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* -------------------------------------------------------------------------- */
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/**
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* @file VectorSerialization.h
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* @brief serialization for Vectors
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* @author Frank Dellaert
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* @date February 2022
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*/
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// Defined only if boost serialization is enabled
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#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
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#pragma once
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#include <gtsam/base/Vector.h>
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#include <boost/serialization/array.hpp>
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#include <boost/serialization/nvp.hpp>
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#include <boost/serialization/split_free.hpp>
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namespace boost {
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namespace serialization {
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// split version - copies into an STL vector for serialization
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template <class Archive>
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void save(Archive& ar, const gtsam::Vector& v, unsigned int /*version*/) {
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const size_t size = v.size();
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ar << BOOST_SERIALIZATION_NVP(size);
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ar << make_nvp("data", make_array(v.data(), v.size()));
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}
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template <class Archive>
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void load(Archive& ar, gtsam::Vector& v, unsigned int /*version*/) {
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size_t size;
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ar >> BOOST_SERIALIZATION_NVP(size);
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v.resize(size);
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ar >> make_nvp("data", make_array(v.data(), v.size()));
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}
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// split version - copies into an STL vector for serialization
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template <class Archive, int D>
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void save(Archive& ar, const Eigen::Matrix<double, D, 1>& v,
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unsigned int /*version*/) {
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ar << make_nvp("data", make_array(v.data(), v.RowsAtCompileTime));
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}
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template <class Archive, int D>
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void load(Archive& ar, Eigen::Matrix<double, D, 1>& v,
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unsigned int /*version*/) {
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ar >> make_nvp("data", make_array(v.data(), v.RowsAtCompileTime));
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}
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} // namespace serialization
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} // namespace boost
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BOOST_SERIALIZATION_SPLIT_FREE(gtsam::Vector)
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BOOST_SERIALIZATION_SPLIT_FREE(gtsam::Vector2)
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BOOST_SERIALIZATION_SPLIT_FREE(gtsam::Vector3)
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BOOST_SERIALIZATION_SPLIT_FREE(gtsam::Vector6)
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#endif
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