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Better way of exporting Boost serialization guid

release/4.3a0
Varun Agrawal 2020-07-12 11:39:47 -04:00
parent 8b9c199d0b
commit a500b41473
3 changed files with 5 additions and 3 deletions
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3
gtsam/navigation/CombinedImuFactor.cpp
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@ -313,3 +313,6 @@ void CombinedImuFactor::Predict(const Pose3& pose_i, const Vector3& vel_i,
} }
/// namespace gtsam /// namespace gtsam
/// Boost serialization export definition for derived class
BOOST_CLASS_EXPORT_IMPLEMENT(gtsam::PreintegrationCombinedParams);

2
gtsam/navigation/CombinedImuFactor.h
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@ -384,3 +384,5 @@ struct traits<CombinedImuFactor> : public Testable<CombinedImuFactor> {};
} // namespace gtsam } // namespace gtsam
/// Add Boost serialization export key (declaration) for derived class
BOOST_CLASS_EXPORT_KEY(gtsam::PreintegrationCombinedParams);

3
gtsam/navigation/tests/testImuFactorSerialization.cpp
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@ -42,9 +42,6 @@ BOOST_CLASS_EXPORT_GUID(gtsam::noiseModel::Isotropic,
BOOST_CLASS_EXPORT_GUID(gtsam::SharedNoiseModel, "gtsam_SharedNoiseModel"); BOOST_CLASS_EXPORT_GUID(gtsam::SharedNoiseModel, "gtsam_SharedNoiseModel");
BOOST_CLASS_EXPORT_GUID(gtsam::SharedDiagonal, "gtsam_SharedDiagonal"); BOOST_CLASS_EXPORT_GUID(gtsam::SharedDiagonal, "gtsam_SharedDiagonal");
/// Add Boost serialization export for derived class
BOOST_CLASS_EXPORT_GUID(gtsam::PreintegrationCombinedParams, "gtsam_PreintegrationCombinedParams");
template <typename P> template <typename P>
P getPreintegratedMeasurements() { P getPreintegratedMeasurements() {
// Create default parameters with Z-down and above noise paramaters // Create default parameters with Z-down and above noise paramaters