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Fix serialization of ISAM2 class

release/4.3a0
Scott 2021-07-09 13:07:08 -07:00
parent cd3854a1f6
commit df579ec6a7
2 changed files with 30 additions and 0 deletions
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10
gtsam/inference/VariableIndex.h
View File

@ -182,6 +182,16 @@ protected:
return item->second;
}
private:
/** Serialization function */
friend class boost::serialization::access;
template<class ARCHIVE>
void serialize(ARCHIVE & ar, const unsigned int /*version*/) {
ar & BOOST_SERIALIZATION_NVP(index_);
ar & BOOST_SERIALIZATION_NVP(nFactors_);
ar & BOOST_SERIALIZATION_NVP(nEntries_);
}
/// @}
};

20
gtsam/nonlinear/ISAM2.h
View File

@ -315,6 +315,26 @@ class GTSAM_EXPORT ISAM2 : public BayesTree<ISAM2Clique> {
void removeVariables(const KeySet& unusedKeys);
void updateDelta(bool forceFullSolve = false) const;
private:
/** Serialization function */
friend class boost::serialization::access;
template<class ARCHIVE>
void serialize(ARCHIVE & ar, const unsigned int /*version*/) {
ar & boost::serialization::base_object<BayesTree<ISAM2Clique> >(*this);
ar & BOOST_SERIALIZATION_NVP(theta_);
ar & BOOST_SERIALIZATION_NVP(variableIndex_);
ar & BOOST_SERIALIZATION_NVP(delta_);
ar & BOOST_SERIALIZATION_NVP(deltaNewton_);
ar & BOOST_SERIALIZATION_NVP(RgProd_);
ar & BOOST_SERIALIZATION_NVP(deltaReplacedMask_);
ar & BOOST_SERIALIZATION_NVP(nonlinearFactors_);
ar & BOOST_SERIALIZATION_NVP(linearFactors_);
ar & BOOST_SERIALIZATION_NVP(doglegDelta_);
ar & BOOST_SERIALIZATION_NVP(fixedVariables_);
ar & BOOST_SERIALIZATION_NVP(update_count_);
}
}; // ISAM2
/// traits