From e69af84c36970fbbeb3de209e3bfe06cb034de69 Mon Sep 17 00:00:00 2001
From: Alex Cunningham <alexgcunningham@gmail.com>
Date: Wed, 12 Jun 2013 19:30:22 +0000
Subject: [PATCH] Added wrapping for graph/values serialization with tests in
 Matlab.  Values serializes correctly, but graphs do not in either case.

---
 gtsam.h                                    | 27 ++++++++++++++++++++++
 matlab/gtsam_tests/testPlanarSLAMExample.m |  8 +++++++
 matlab/gtsam_tests/testPose2SLAMExample.m  |  9 ++++++++
 3 files changed, 44 insertions(+)

diff --git a/gtsam.h b/gtsam.h
index 20ea0bf8a..64270b133 100644
--- a/gtsam.h
+++ b/gtsam.h
@@ -2102,6 +2102,33 @@ pair<gtsam::NonlinearFactorGraph*, gtsam::Values*> load2D(string filename,
 pair<gtsam::NonlinearFactorGraph*, gtsam::Values*> load2D_robust(string filename,
     gtsam::noiseModel::Base* model);
 
+//*************************************************************************
+// Serialization
+//*************************************************************************
+#include <gtsam/slam/serialization.h>
+
+// Serialize/Deserialize a NonlinearFactorGraph
+string serializeGraph(const gtsam::NonlinearFactorGraph& graph);
+
+gtsam::NonlinearFactorGraph* deserializeGraph(string serialized_graph);
+
+string serializeGraphXML(const gtsam::NonlinearFactorGraph& graph);
+string serializeGraphXML(const gtsam::NonlinearFactorGraph& graph, string name);
+
+gtsam::NonlinearFactorGraph* deserializeGraphXML(string serialized_graph);
+gtsam::NonlinearFactorGraph* deserializeGraphXML(string serialized_graph, string name);
+
+// Serialize/Deserialize a Values
+string serializeValues(const gtsam::Values& values);
+
+gtsam::Values* deserializeValues(string serialized_values);
+
+string serializeValuesXML(const gtsam::Values& values);
+string serializeValuesXML(const gtsam::Values& values, string name);
+
+gtsam::Values* deserializeValuesXML(string serialized_values);
+gtsam::Values* deserializeValuesXML(string serialized_values, string name);
+
 //*************************************************************************
 // Utilities
 //*************************************************************************
diff --git a/matlab/gtsam_tests/testPlanarSLAMExample.m b/matlab/gtsam_tests/testPlanarSLAMExample.m
index 2a736a710..584b86345 100644
--- a/matlab/gtsam_tests/testPlanarSLAMExample.m
+++ b/matlab/gtsam_tests/testPlanarSLAMExample.m
@@ -68,4 +68,12 @@ point_1 = result.at(symbol('l',1));
 marginals.marginalCovariance(symbol('l',1));
 CHECK('point_1.equals(Point2(2,2),1e-4)',point_1.equals(Point2(2,2),1e-4));
 
+%% Check that serialization works properly
+serialized_values = serializeValues(initialEstimate);
+deserializedValues = deserializeValues(serialized_values);
+CHECK('initialEstimate.equals(deserializedValues)',initialEstimate.equals(deserializedValues,1e-9));
 
+% FAILS: unregistered class? 
+% serialized_graph = serializeGraph(graph);
+% deserializedGraph = deserializeGraph(serialized_graph);
+% CHECK('graph.equals(deserializedGraph)',graph.equals(deserializedGraph,1e-9));
\ No newline at end of file
diff --git a/matlab/gtsam_tests/testPose2SLAMExample.m b/matlab/gtsam_tests/testPose2SLAMExample.m
index 127bcd41c..2ac354955 100644
--- a/matlab/gtsam_tests/testPose2SLAMExample.m
+++ b/matlab/gtsam_tests/testPose2SLAMExample.m
@@ -61,3 +61,12 @@ pose_1 = result.at(1);
 CHECK('pose_1.equals(Pose2,1e-4)',pose_1.equals(Pose2,1e-4));
 
 
+%% Check that serialization works properly
+serialized_values = serializeValues(initialEstimate);
+deserializedValues = deserializeValues(serialized_values);
+CHECK('initialEstimate.equals(deserializedValues)',initialEstimate.equals(deserializedValues,1e-9));
+
+% FAILS: unregistered class? 
+% serialized_graph = serializeGraph(graph);
+% deserializedGraph = deserializeGraph(serialized_graph);
+% CHECK('graph.equals(deserializedGraph)',graph.equals(deserializedGraph,1e-9));