From 865a7bac77d4588d1df0268e93883a3a67abdf71 Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Thu, 17 Feb 2022 09:37:17 -0500
Subject: [PATCH] navigation tests passing

---
 gtsam/navigation/CombinedImuFactor.cpp                 | 3 ---
 gtsam/navigation/CombinedImuFactor.h                   | 3 ---
 gtsam/navigation/tests/testSerializationNavigation.cpp | 3 +++
 3 files changed, 3 insertions(+), 6 deletions(-)

diff --git a/gtsam/navigation/CombinedImuFactor.cpp b/gtsam/navigation/CombinedImuFactor.cpp
index 7d086eb57..3fe2cf4d1 100644
--- a/gtsam/navigation/CombinedImuFactor.cpp
+++ b/gtsam/navigation/CombinedImuFactor.cpp
@@ -256,6 +256,3 @@ std::ostream& operator<<(std::ostream& os, const CombinedImuFactor& f) {
 }
  /// namespace gtsam
 
-/// Boost serialization export definition for derived class
-BOOST_CLASS_EXPORT_IMPLEMENT(gtsam::PreintegrationCombinedParams)
-
diff --git a/gtsam/navigation/CombinedImuFactor.h b/gtsam/navigation/CombinedImuFactor.h
index 89e8b574f..068a17ca4 100644
--- a/gtsam/navigation/CombinedImuFactor.h
+++ b/gtsam/navigation/CombinedImuFactor.h
@@ -351,6 +351,3 @@ template <>
 struct traits<CombinedImuFactor> : public Testable<CombinedImuFactor> {};
 
 }  // namespace gtsam
-
-/// Add Boost serialization export key (declaration) for derived class
-BOOST_CLASS_EXPORT_KEY(gtsam::PreintegrationCombinedParams)
diff --git a/gtsam/navigation/tests/testSerializationNavigation.cpp b/gtsam/navigation/tests/testSerializationNavigation.cpp
index 63d2606a1..6a2155875 100644
--- a/gtsam/navigation/tests/testSerializationNavigation.cpp
+++ b/gtsam/navigation/tests/testSerializationNavigation.cpp
@@ -39,6 +39,9 @@ BOOST_CLASS_EXPORT_GUID(noiseModel::Unit, "gtsam_noiseModel_Unit")
 BOOST_CLASS_EXPORT_GUID(noiseModel::Isotropic, "gtsam_noiseModel_Isotropic")
 BOOST_CLASS_EXPORT_GUID(SharedNoiseModel, "gtsam_SharedNoiseModel")
 BOOST_CLASS_EXPORT_GUID(SharedDiagonal, "gtsam_SharedDiagonal")
+BOOST_CLASS_EXPORT_GUID(PreintegratedImuMeasurements, "gtsam_PreintegratedImuMeasurements")
+BOOST_CLASS_EXPORT_GUID(PreintegrationCombinedParams, "gtsam_PreintegrationCombinedParams")
+BOOST_CLASS_EXPORT_GUID(PreintegratedCombinedMeasurements, "gtsam_PreintegratedCombinedMeasurements")
 
 template <typename P>
 P getPreintegratedMeasurements() {