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Added serialization functions for fixed-size vectors

release/4.3a0
Richard Roberts 2013-06-22 15:40:11 +00:00
parent 5be3c49228
commit 974bef7bc8
2 changed files with 23 additions and 0 deletions
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14
gtsam/base/Vector.h
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@ -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)

9
gtsam/base/tests/testSerializationBase.cpp
View File

@ -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)));
}