From 974bef7bc808c7df99ce83a8a0cb988f904dcb86 Mon Sep 17 00:00:00 2001
From: Richard Roberts <richard.jw.roberts@gmail.com>
Date: Sat, 22 Jun 2013 15:40:11 +0000
Subject: [PATCH] Added serialization functions for fixed-size vectors

---
 gtsam/base/Vector.h                        | 14 ++++++++++++++
 gtsam/base/tests/testSerializationBase.cpp |  9 +++++++++
 2 files changed, 23 insertions(+)

diff --git a/gtsam/base/Vector.h b/gtsam/base/Vector.h
index 7b8404289..2c6066042 100644
--- a/gtsam/base/Vector.h
+++ b/gtsam/base/Vector.h
@@ -374,7 +374,21 @@ namespace boost {
       ar >> make_nvp("data", make_array(v.data(), v.size()));
     }
 
+    // split version - copies into an STL vector for serialization
+    template<class Archive, int D>
+    void save(Archive & ar, const Eigen::Matrix<double,D,1> & v, unsigned int version) {
+      ar << make_nvp("data", make_array(v.data(), v.RowsAtCompileTime));
+    }
+
+    template<class Archive, int D>
+    void load(Archive & ar, Eigen::Matrix<double,D,1> & v, unsigned int version) {
+      ar >> make_nvp("data", make_array(v.data(), v.RowsAtCompileTime));
+    }
+
   } // namespace serialization
 } // namespace boost
 
 BOOST_SERIALIZATION_SPLIT_FREE(gtsam::Vector)
+BOOST_SERIALIZATION_SPLIT_FREE(gtsam::Vector2)
+BOOST_SERIALIZATION_SPLIT_FREE(gtsam::Vector3)
+BOOST_SERIALIZATION_SPLIT_FREE(gtsam::Vector6)
diff --git a/gtsam/base/tests/testSerializationBase.cpp b/gtsam/base/tests/testSerializationBase.cpp
index 3bb88f759..30b7cd2f3 100644
--- a/gtsam/base/tests/testSerializationBase.cpp
+++ b/gtsam/base/tests/testSerializationBase.cpp
@@ -85,12 +85,21 @@ TEST (Serialization, FastVector) {
 /* ************************************************************************* */
 TEST (Serialization, matrix_vector) {
   EXPECT(equality<Vector>(Vector_(4, 1.0, 2.0, 3.0, 4.0)));
+  EXPECT(equality<Vector2>(Vector2(1.0, 2.0)));
+  EXPECT(equality<Vector3>(Vector3(1.0, 2.0, 3.0)));
+  EXPECT(equality<Vector6>((Vector6() << 1.0, 2.0, 3.0, 4.0, 5.0, 6.0).finished()));
   EXPECT(equality<Matrix>(Matrix_(2, 2, 1.0, 2.0, 3.0, 4.0)));
 
   EXPECT(equalityXML<Vector>(Vector_(4, 1.0, 2.0, 3.0, 4.0)));
+  EXPECT(equalityXML<Vector2>(Vector2(1.0, 2.0)));
+  EXPECT(equalityXML<Vector3>(Vector3(1.0, 2.0, 3.0)));
+  EXPECT(equalityXML<Vector6>((Vector6() << 1.0, 2.0, 3.0, 4.0, 5.0, 6.0).finished()));
   EXPECT(equalityXML<Matrix>(Matrix_(2, 2, 1.0, 2.0, 3.0, 4.0)));
 
   EXPECT(equalityBinary<Vector>(Vector_(4, 1.0, 2.0, 3.0, 4.0)));
+  EXPECT(equalityBinary<Vector2>(Vector2(1.0, 2.0)));
+  EXPECT(equalityBinary<Vector3>(Vector3(1.0, 2.0, 3.0)));
+  EXPECT(equalityBinary<Vector6>((Vector6() << 1.0, 2.0, 3.0, 4.0, 5.0, 6.0).finished()));
   EXPECT(equalityBinary<Matrix>(Matrix_(2, 2, 1.0, 2.0, 3.0, 4.0)));
 }