testSerializationSLAM.cpp File Reference

test serialization More...

#include <CppUnitLite/TestHarness.h>
#include <tests/smallExample.h>
#include <gtsam/sam/BearingRangeFactor.h>
#include <gtsam/slam/BetweenFactor.h>
#include <gtsam/slam/GeneralSFMFactor.h>
#include <gtsam/nonlinear/PriorFactor.h>
#include <gtsam/slam/ProjectionFactor.h>
#include <gtsam/sam/RangeFactor.h>
#include <gtsam/slam/StereoFactor.h>
#include <gtsam/nonlinear/NonlinearEquality.h>
#include <gtsam/inference/Symbol.h>
#include <gtsam/linear/GaussianISAM.h>
#include <gtsam/geometry/Point2.h>
#include <gtsam/geometry/StereoPoint2.h>
#include <gtsam/geometry/Point3.h>
#include <gtsam/geometry/Rot2.h>
#include <gtsam/geometry/Rot3.h>
#include <gtsam/geometry/Pose2.h>
#include <gtsam/geometry/Pose3.h>
#include <gtsam/geometry/Cal3_S2.h>
#include <gtsam/geometry/Cal3DS2.h>
#include <gtsam/geometry/Cal3_S2Stereo.h>
#include <gtsam/geometry/CalibratedCamera.h>
#include <gtsam/geometry/PinholeCamera.h>
#include <gtsam/geometry/StereoCamera.h>
#include <gtsam/geometry/SimpleCamera.h>
#include <gtsam/base/serializationTestHelpers.h>

Include dependency graph for testSerializationSLAM.cpp:

Go to the source code of this file.

Typedefs
typedef BearingRangeFactor< Pose2, Point2 >	BearingRangeFactor2D
typedef BearingRangeFactor< Pose3, Point3 >	BearingRangeFactor3D
typedef BetweenFactor< Point2 >	BetweenFactorPoint2
typedef BetweenFactor< Point3 >	BetweenFactorPoint3
typedef BetweenFactor< Pose2 >	BetweenFactorPose2
typedef BetweenFactor< Pose3 >	BetweenFactorPose3
typedef BetweenFactor< Rot2 >	BetweenFactorRot2
typedef BetweenFactor< Rot3 >	BetweenFactorRot3
typedef gtsam::GeneralSFMFactor2< gtsam::Cal3_S2 >	GeneralSFMFactor2Cal3_S2
typedef gtsam::GeneralSFMFactor< gtsam::PinholeCameraCal3_S2, gtsam::Point3 >	GeneralSFMFactorCal3_S2
typedef gtsam::GeneralSFMFactor< gtsam::PinholeCameraCal3DS2, gtsam::Point3 >	GeneralSFMFactorCal3DS2
typedef GenericProjectionFactor< Pose3, Point3, Cal3_S2 >	GenericProjectionFactorCal3_S2
typedef GenericProjectionFactor< Pose3, Point3, Cal3DS2 >	GenericProjectionFactorCal3DS2
typedef gtsam::GenericStereoFactor< gtsam::Pose3, gtsam::Point3 >	GenericStereoFactor3D
typedef NonlinearEquality< Cal3_S2 >	NonlinearEqualityCal3_S2
typedef NonlinearEquality< Cal3DS2 >	NonlinearEqualityCal3DS2
typedef NonlinearEquality< CalibratedCamera >	NonlinearEqualityCalibratedCamera
typedef NonlinearEquality< PinholeCameraCal3_S2 >	NonlinearEqualityPinholeCameraCal3_S2
typedef NonlinearEquality< Point2 >	NonlinearEqualityPoint2
typedef NonlinearEquality< Point3 >	NonlinearEqualityPoint3
typedef NonlinearEquality< Pose2 >	NonlinearEqualityPose2
typedef NonlinearEquality< Pose3 >	NonlinearEqualityPose3
typedef NonlinearEquality< Rot2 >	NonlinearEqualityRot2
typedef NonlinearEquality< Rot3 >	NonlinearEqualityRot3
typedef NonlinearEquality< StereoCamera >	NonlinearEqualityStereoCamera
typedef NonlinearEquality< StereoPoint2 >	NonlinearEqualityStereoPoint2
typedef PriorFactor< Cal3_S2 >	PriorFactorCal3_S2
typedef PriorFactor< Cal3DS2 >	PriorFactorCal3DS2
typedef PriorFactor< CalibratedCamera >	PriorFactorCalibratedCamera
typedef PriorFactor< PinholeCameraCal3_S2 >	PriorFactorPinholeCameraCal3_S2
typedef PriorFactor< Point2 >	PriorFactorPoint2
typedef PriorFactor< Point3 >	PriorFactorPoint3
typedef PriorFactor< Pose2 >	PriorFactorPose2
typedef PriorFactor< Pose3 >	PriorFactorPose3
typedef PriorFactor< Rot2 >	PriorFactorRot2
typedef PriorFactor< Rot3 >	PriorFactorRot3
typedef PriorFactor< StereoCamera >	PriorFactorStereoCamera
typedef PriorFactor< StereoPoint2 >	PriorFactorStereoPoint2
typedef RangeFactor< Pose2, Point2 >	RangeFactor2D
typedef RangeFactor< Pose3, Point3 >	RangeFactor3D
typedef RangeFactor< CalibratedCamera, CalibratedCamera >	RangeFactorCalibratedCamera
typedef RangeFactor< CalibratedCamera, Point3 >	RangeFactorCalibratedCameraPoint
typedef RangeFactor< PinholeCameraCal3_S2, PinholeCameraCal3_S2 >	RangeFactorPinholeCameraCal3_S2
typedef RangeFactor< PinholeCameraCal3_S2, Point3 >	RangeFactorPinholeCameraCal3_S2Point
typedef RangeFactor< Pose2, Pose2 >	RangeFactorPose2
typedef RangeFactor< Pose3, Pose3 >	RangeFactorPose3

Functions
	BOOST_CLASS_EXPORT_GUID (gtsam::noiseModel::Constrained,"gtsam_noiseModel_Constrained")
	BOOST_CLASS_EXPORT_GUID (gtsam::noiseModel::Diagonal,"gtsam_noiseModel_Diagonal")
	BOOST_CLASS_EXPORT_GUID (gtsam::noiseModel::Gaussian,"gtsam_noiseModel_Gaussian")
	BOOST_CLASS_EXPORT_GUID (gtsam::noiseModel::Unit,"gtsam_noiseModel_Unit")
	BOOST_CLASS_EXPORT_GUID (gtsam::noiseModel::Isotropic,"gtsam_noiseModel_Isotropic")
	BOOST_CLASS_EXPORT_GUID (gtsam::noiseModel::Robust,"gtsam_noiseModel_Robust")
	BOOST_CLASS_EXPORT_GUID (gtsam::noiseModel::mEstimator::Base,"gtsam_noiseModel_mEstimator_Base")
	BOOST_CLASS_EXPORT_GUID (gtsam::noiseModel::mEstimator::Null,"gtsam_noiseModel_mEstimator_Null")
	BOOST_CLASS_EXPORT_GUID (gtsam::noiseModel::mEstimator::Fair,"gtsam_noiseModel_mEstimator_Fair")
	BOOST_CLASS_EXPORT_GUID (gtsam::noiseModel::mEstimator::Huber,"gtsam_noiseModel_mEstimator_Huber")
	BOOST_CLASS_EXPORT_GUID (gtsam::noiseModel::mEstimator::Tukey,"gtsam_noiseModel_mEstimator_Tukey")
	BOOST_CLASS_EXPORT_GUID (gtsam::SharedNoiseModel,"gtsam_SharedNoiseModel")
	BOOST_CLASS_EXPORT_GUID (gtsam::SharedDiagonal,"gtsam_SharedDiagonal")
	BOOST_CLASS_EXPORT_GUID (gtsam::JacobianFactor,"gtsam::JacobianFactor")
	BOOST_CLASS_EXPORT_GUID (gtsam::HessianFactor,"gtsam::HessianFactor")
	BOOST_CLASS_EXPORT_GUID (PriorFactorPoint2,"gtsam::PriorFactorPoint2")
	BOOST_CLASS_EXPORT_GUID (PriorFactorStereoPoint2,"gtsam::PriorFactorStereoPoint2")
	BOOST_CLASS_EXPORT_GUID (PriorFactorPoint3,"gtsam::PriorFactorPoint3")
	BOOST_CLASS_EXPORT_GUID (PriorFactorRot2,"gtsam::PriorFactorRot2")
	BOOST_CLASS_EXPORT_GUID (PriorFactorRot3,"gtsam::PriorFactorRot3")
	BOOST_CLASS_EXPORT_GUID (PriorFactorPose2,"gtsam::PriorFactorPose2")
	BOOST_CLASS_EXPORT_GUID (PriorFactorPose3,"gtsam::PriorFactorPose3")
	BOOST_CLASS_EXPORT_GUID (PriorFactorCal3_S2,"gtsam::PriorFactorCal3_S2")
	BOOST_CLASS_EXPORT_GUID (PriorFactorCal3DS2,"gtsam::PriorFactorCal3DS2")
	BOOST_CLASS_EXPORT_GUID (PriorFactorCalibratedCamera,"gtsam::PriorFactorCalibratedCamera")
	BOOST_CLASS_EXPORT_GUID (PriorFactorStereoCamera,"gtsam::PriorFactorStereoCamera")
	BOOST_CLASS_EXPORT_GUID (BetweenFactorPoint2,"gtsam::BetweenFactorPoint2")
	BOOST_CLASS_EXPORT_GUID (BetweenFactorPoint3,"gtsam::BetweenFactorPoint3")
	BOOST_CLASS_EXPORT_GUID (BetweenFactorRot2,"gtsam::BetweenFactorRot2")
	BOOST_CLASS_EXPORT_GUID (BetweenFactorRot3,"gtsam::BetweenFactorRot3")
	BOOST_CLASS_EXPORT_GUID (BetweenFactorPose2,"gtsam::BetweenFactorPose2")
	BOOST_CLASS_EXPORT_GUID (BetweenFactorPose3,"gtsam::BetweenFactorPose3")
	BOOST_CLASS_EXPORT_GUID (NonlinearEqualityPoint2,"gtsam::NonlinearEqualityPoint2")
	BOOST_CLASS_EXPORT_GUID (NonlinearEqualityStereoPoint2,"gtsam::NonlinearEqualityStereoPoint2")
	BOOST_CLASS_EXPORT_GUID (NonlinearEqualityPoint3,"gtsam::NonlinearEqualityPoint3")
	BOOST_CLASS_EXPORT_GUID (NonlinearEqualityRot2,"gtsam::NonlinearEqualityRot2")
	BOOST_CLASS_EXPORT_GUID (NonlinearEqualityRot3,"gtsam::NonlinearEqualityRot3")
	BOOST_CLASS_EXPORT_GUID (NonlinearEqualityPose2,"gtsam::NonlinearEqualityPose2")
	BOOST_CLASS_EXPORT_GUID (NonlinearEqualityPose3,"gtsam::NonlinearEqualityPose3")
	BOOST_CLASS_EXPORT_GUID (NonlinearEqualityCal3_S2,"gtsam::NonlinearEqualityCal3_S2")
	BOOST_CLASS_EXPORT_GUID (NonlinearEqualityCal3DS2,"gtsam::NonlinearEqualityCal3DS2")
	BOOST_CLASS_EXPORT_GUID (NonlinearEqualityCalibratedCamera,"gtsam::NonlinearEqualityCalibratedCamera")
	BOOST_CLASS_EXPORT_GUID (NonlinearEqualityStereoCamera,"gtsam::NonlinearEqualityStereoCamera")
	BOOST_CLASS_EXPORT_GUID (RangeFactor2D,"gtsam::RangeFactor2D")
	BOOST_CLASS_EXPORT_GUID (RangeFactor3D,"gtsam::RangeFactor3D")
	BOOST_CLASS_EXPORT_GUID (RangeFactorPose2,"gtsam::RangeFactorPose2")
	BOOST_CLASS_EXPORT_GUID (RangeFactorPose3,"gtsam::RangeFactorPose3")
	BOOST_CLASS_EXPORT_GUID (RangeFactorCalibratedCameraPoint,"gtsam::RangeFactorCalibratedCameraPoint")
	BOOST_CLASS_EXPORT_GUID (RangeFactorPinholeCameraCal3_S2Point,"gtsam::RangeFactorPinholeCameraCal3_S2Point")
	BOOST_CLASS_EXPORT_GUID (RangeFactorCalibratedCamera,"gtsam::RangeFactorCalibratedCamera")
	BOOST_CLASS_EXPORT_GUID (RangeFactorPinholeCameraCal3_S2,"gtsam::RangeFactorPinholeCameraCal3_S2")
	BOOST_CLASS_EXPORT_GUID (BearingRangeFactor2D,"gtsam::BearingRangeFactor2D")
	BOOST_CLASS_EXPORT_GUID (GenericProjectionFactorCal3_S2,"gtsam::GenericProjectionFactorCal3_S2")
	BOOST_CLASS_EXPORT_GUID (GenericProjectionFactorCal3DS2,"gtsam::GenericProjectionFactorCal3DS2")
	BOOST_CLASS_EXPORT_GUID (GeneralSFMFactorCal3_S2,"gtsam::GeneralSFMFactorCal3_S2")
	BOOST_CLASS_EXPORT_GUID (GeneralSFMFactorCal3DS2,"gtsam::GeneralSFMFactorCal3DS2")
	BOOST_CLASS_EXPORT_GUID (GeneralSFMFactor2Cal3_S2,"gtsam::GeneralSFMFactor2Cal3_S2")
	BOOST_CLASS_EXPORT_GUID (GenericStereoFactor3D,"gtsam::GenericStereoFactor3D")
	GTSAM_VALUE_EXPORT (gtsam::Point2)
	GTSAM_VALUE_EXPORT (gtsam::StereoPoint2)
	GTSAM_VALUE_EXPORT (gtsam::Point3)
	GTSAM_VALUE_EXPORT (gtsam::Rot2)
	GTSAM_VALUE_EXPORT (gtsam::Rot3)
	GTSAM_VALUE_EXPORT (gtsam::Pose2)
	GTSAM_VALUE_EXPORT (gtsam::Pose3)
	GTSAM_VALUE_EXPORT (gtsam::Cal3_S2)
	GTSAM_VALUE_EXPORT (gtsam::Cal3DS2)
	GTSAM_VALUE_EXPORT (gtsam::Cal3_S2Stereo)
	GTSAM_VALUE_EXPORT (gtsam::CalibratedCamera)
	GTSAM_VALUE_EXPORT (gtsam::PinholeCameraCal3_S2)
	GTSAM_VALUE_EXPORT (gtsam::StereoCamera)
int	main ()
	TEST (testSerializationSLAM, smallExample_linear)
	TEST (testSerializationSLAM, gaussianISAM)
	TEST (testSerializationSLAM, smallExample_nonlinear)
	TEST (testSerializationSLAM, factors)

Detailed Description

test serialization

Author

Richard Roberts

Date

Feb 7, 2012

Definition in file testSerializationSLAM.cpp.

Typedef Documentation

typedef BearingRangeFactor<Pose2, Point2> BearingRangeFactor2D

Definition at line 96 of file testSerializationSLAM.cpp.

typedef BearingRangeFactor<Pose3, Point3> BearingRangeFactor3D

Definition at line 97 of file testSerializationSLAM.cpp.

typedef BetweenFactor<Point2> BetweenFactorPoint2

Definition at line 67 of file testSerializationSLAM.cpp.

typedef BetweenFactor<Point3> BetweenFactorPoint3

Definition at line 68 of file testSerializationSLAM.cpp.

typedef BetweenFactor<Pose2> BetweenFactorPose2

Definition at line 71 of file testSerializationSLAM.cpp.

typedef BetweenFactor<Pose3> BetweenFactorPose3

Definition at line 72 of file testSerializationSLAM.cpp.

typedef BetweenFactor<Rot2> BetweenFactorRot2

Definition at line 69 of file testSerializationSLAM.cpp.

typedef BetweenFactor<Rot3> BetweenFactorRot3

Definition at line 70 of file testSerializationSLAM.cpp.

typedef gtsam::GeneralSFMFactor2<gtsam::Cal3_S2> GeneralSFMFactor2Cal3_S2

Definition at line 105 of file testSerializationSLAM.cpp.

typedef gtsam::GeneralSFMFactor<gtsam::PinholeCameraCal3_S2, gtsam::Point3> GeneralSFMFactorCal3_S2

Definition at line 102 of file testSerializationSLAM.cpp.

typedef gtsam::GeneralSFMFactor<gtsam::PinholeCameraCal3DS2, gtsam::Point3> GeneralSFMFactorCal3DS2

Definition at line 103 of file testSerializationSLAM.cpp.

typedef GenericProjectionFactor<Pose3, Point3, Cal3_S2> GenericProjectionFactorCal3_S2

Definition at line 99 of file testSerializationSLAM.cpp.

typedef GenericProjectionFactor<Pose3, Point3, Cal3DS2> GenericProjectionFactorCal3DS2

Definition at line 100 of file testSerializationSLAM.cpp.

typedef gtsam::GenericStereoFactor<gtsam::Pose3, gtsam::Point3> GenericStereoFactor3D

Definition at line 107 of file testSerializationSLAM.cpp.

typedef NonlinearEquality<Cal3_S2> NonlinearEqualityCal3_S2

Definition at line 81 of file testSerializationSLAM.cpp.

typedef NonlinearEquality<Cal3DS2> NonlinearEqualityCal3DS2

Definition at line 82 of file testSerializationSLAM.cpp.

typedef NonlinearEquality<CalibratedCamera> NonlinearEqualityCalibratedCamera

Definition at line 83 of file testSerializationSLAM.cpp.

typedef NonlinearEquality<PinholeCameraCal3_S2> NonlinearEqualityPinholeCameraCal3_S2

Definition at line 84 of file testSerializationSLAM.cpp.

typedef NonlinearEquality<Point2> NonlinearEqualityPoint2

Definition at line 74 of file testSerializationSLAM.cpp.

typedef NonlinearEquality<Point3> NonlinearEqualityPoint3

Definition at line 76 of file testSerializationSLAM.cpp.

typedef NonlinearEquality<Pose2> NonlinearEqualityPose2

Definition at line 79 of file testSerializationSLAM.cpp.

typedef NonlinearEquality<Pose3> NonlinearEqualityPose3

Definition at line 80 of file testSerializationSLAM.cpp.

typedef NonlinearEquality<Rot2> NonlinearEqualityRot2

Definition at line 77 of file testSerializationSLAM.cpp.

typedef NonlinearEquality<Rot3> NonlinearEqualityRot3

Definition at line 78 of file testSerializationSLAM.cpp.

typedef NonlinearEquality<StereoCamera> NonlinearEqualityStereoCamera

Definition at line 85 of file testSerializationSLAM.cpp.

typedef NonlinearEquality<StereoPoint2> NonlinearEqualityStereoPoint2

Definition at line 75 of file testSerializationSLAM.cpp.

typedef PriorFactor<Cal3_S2> PriorFactorCal3_S2

Definition at line 61 of file testSerializationSLAM.cpp.

typedef PriorFactor<Cal3DS2> PriorFactorCal3DS2

Definition at line 62 of file testSerializationSLAM.cpp.

typedef PriorFactor<CalibratedCamera> PriorFactorCalibratedCamera

Definition at line 63 of file testSerializationSLAM.cpp.

typedef PriorFactor<PinholeCameraCal3_S2> PriorFactorPinholeCameraCal3_S2

Definition at line 64 of file testSerializationSLAM.cpp.

typedef PriorFactor<Point2> PriorFactorPoint2

Definition at line 54 of file testSerializationSLAM.cpp.

typedef PriorFactor<Point3> PriorFactorPoint3

Definition at line 56 of file testSerializationSLAM.cpp.

typedef PriorFactor<Pose2> PriorFactorPose2

Definition at line 59 of file testSerializationSLAM.cpp.

typedef PriorFactor<Pose3> PriorFactorPose3

Definition at line 60 of file testSerializationSLAM.cpp.

typedef PriorFactor<Rot2> PriorFactorRot2

Definition at line 57 of file testSerializationSLAM.cpp.

typedef PriorFactor<Rot3> PriorFactorRot3

Definition at line 58 of file testSerializationSLAM.cpp.

typedef PriorFactor<StereoCamera> PriorFactorStereoCamera

Definition at line 65 of file testSerializationSLAM.cpp.

typedef PriorFactor<StereoPoint2> PriorFactorStereoPoint2

Definition at line 55 of file testSerializationSLAM.cpp.

typedef RangeFactor<Pose2, Point2> RangeFactor2D

Definition at line 87 of file testSerializationSLAM.cpp.

typedef RangeFactor<Pose3, Point3> RangeFactor3D

Definition at line 88 of file testSerializationSLAM.cpp.

typedef RangeFactor<CalibratedCamera, CalibratedCamera> RangeFactorCalibratedCamera

Definition at line 93 of file testSerializationSLAM.cpp.

typedef RangeFactor<CalibratedCamera, Point3> RangeFactorCalibratedCameraPoint

Definition at line 91 of file testSerializationSLAM.cpp.

typedef RangeFactor<PinholeCameraCal3_S2, PinholeCameraCal3_S2> RangeFactorPinholeCameraCal3_S2

Definition at line 94 of file testSerializationSLAM.cpp.

typedef RangeFactor<PinholeCameraCal3_S2, Point3> RangeFactorPinholeCameraCal3_S2Point

Definition at line 92 of file testSerializationSLAM.cpp.

typedef RangeFactor<Pose2, Pose2> RangeFactorPose2

Definition at line 89 of file testSerializationSLAM.cpp.

typedef RangeFactor<Pose3, Pose3> RangeFactorPose3

Definition at line 90 of file testSerializationSLAM.cpp.

Function Documentation

BOOST_CLASS_EXPORT_GUID	(	gtsam::noiseModel::Constrained	,
		"gtsam_noiseModel_Constrained"
	)

BOOST_CLASS_EXPORT_GUID	(	gtsam::noiseModel::Diagonal	,
		"gtsam_noiseModel_Diagonal"
	)

BOOST_CLASS_EXPORT_GUID	(	gtsam::noiseModel::Gaussian	,
		"gtsam_noiseModel_Gaussian"
	)

BOOST_CLASS_EXPORT_GUID	(	gtsam::noiseModel::Unit	,
		"gtsam_noiseModel_Unit"
	)

BOOST_CLASS_EXPORT_GUID	(	gtsam::noiseModel::Isotropic	,
		"gtsam_noiseModel_Isotropic"
	)

BOOST_CLASS_EXPORT_GUID	(	gtsam::noiseModel::Robust	,
		"gtsam_noiseModel_Robust"
	)

BOOST_CLASS_EXPORT_GUID	(	gtsam::noiseModel::mEstimator::Base	,
		"gtsam_noiseModel_mEstimator_Base"
	)

BOOST_CLASS_EXPORT_GUID	(	gtsam::noiseModel::mEstimator::Null	,
		"gtsam_noiseModel_mEstimator_Null"
	)

BOOST_CLASS_EXPORT_GUID	(	gtsam::noiseModel::mEstimator::Fair	,
		"gtsam_noiseModel_mEstimator_Fair"
	)

BOOST_CLASS_EXPORT_GUID	(	gtsam::noiseModel::mEstimator::Huber	,
		"gtsam_noiseModel_mEstimator_Huber"
	)

BOOST_CLASS_EXPORT_GUID	(	gtsam::noiseModel::mEstimator::Tukey	,
		"gtsam_noiseModel_mEstimator_Tukey"
	)

BOOST_CLASS_EXPORT_GUID	(	gtsam::SharedNoiseModel	,
		"gtsam_SharedNoiseModel"
	)

BOOST_CLASS_EXPORT_GUID	(	gtsam::SharedDiagonal	,
		"gtsam_SharedDiagonal"
	)

BOOST_CLASS_EXPORT_GUID	(	gtsam::JacobianFactor	,
		"gtsam::JacobianFactor"
	)

BOOST_CLASS_EXPORT_GUID	(	gtsam::HessianFactor	,
		"gtsam::HessianFactor"
	)

BOOST_CLASS_EXPORT_GUID	(	PriorFactorPoint2	,
		"gtsam::PriorFactorPoint2"
	)

BOOST_CLASS_EXPORT_GUID	(	PriorFactorStereoPoint2	,
		"gtsam::PriorFactorStereoPoint2"
	)

BOOST_CLASS_EXPORT_GUID	(	PriorFactorPoint3	,
		"gtsam::PriorFactorPoint3"
	)

BOOST_CLASS_EXPORT_GUID	(	PriorFactorRot2	,
		"gtsam::PriorFactorRot2"
	)

BOOST_CLASS_EXPORT_GUID	(	PriorFactorRot3	,
		"gtsam::PriorFactorRot3"
	)

BOOST_CLASS_EXPORT_GUID	(	PriorFactorPose2	,
		"gtsam::PriorFactorPose2"
	)

BOOST_CLASS_EXPORT_GUID	(	PriorFactorPose3	,
		"gtsam::PriorFactorPose3"
	)

BOOST_CLASS_EXPORT_GUID	(	PriorFactorCal3_S2	,
		"gtsam::PriorFactorCal3_S2"
	)

BOOST_CLASS_EXPORT_GUID	(	PriorFactorCal3DS2	,
		"gtsam::PriorFactorCal3DS2"
	)

BOOST_CLASS_EXPORT_GUID	(	PriorFactorCalibratedCamera	,
		"gtsam::PriorFactorCalibratedCamera"
	)

BOOST_CLASS_EXPORT_GUID	(	PriorFactorStereoCamera	,
		"gtsam::PriorFactorStereoCamera"
	)

BOOST_CLASS_EXPORT_GUID	(	BetweenFactorPoint2	,
		"gtsam::BetweenFactorPoint2"
	)

BOOST_CLASS_EXPORT_GUID	(	BetweenFactorPoint3	,
		"gtsam::BetweenFactorPoint3"
	)

BOOST_CLASS_EXPORT_GUID	(	BetweenFactorRot2	,
		"gtsam::BetweenFactorRot2"
	)

BOOST_CLASS_EXPORT_GUID	(	BetweenFactorRot3	,
		"gtsam::BetweenFactorRot3"
	)

BOOST_CLASS_EXPORT_GUID	(	BetweenFactorPose2	,
		"gtsam::BetweenFactorPose2"
	)

BOOST_CLASS_EXPORT_GUID	(	BetweenFactorPose3	,
		"gtsam::BetweenFactorPose3"
	)

BOOST_CLASS_EXPORT_GUID	(	NonlinearEqualityPoint2	,
		"gtsam::NonlinearEqualityPoint2"
	)

BOOST_CLASS_EXPORT_GUID	(	NonlinearEqualityStereoPoint2	,
		"gtsam::NonlinearEqualityStereoPoint2"
	)

BOOST_CLASS_EXPORT_GUID	(	NonlinearEqualityPoint3	,
		"gtsam::NonlinearEqualityPoint3"
	)

BOOST_CLASS_EXPORT_GUID	(	NonlinearEqualityRot2	,
		"gtsam::NonlinearEqualityRot2"
	)

BOOST_CLASS_EXPORT_GUID	(	NonlinearEqualityRot3	,
		"gtsam::NonlinearEqualityRot3"
	)

BOOST_CLASS_EXPORT_GUID	(	NonlinearEqualityPose2	,
		"gtsam::NonlinearEqualityPose2"
	)

BOOST_CLASS_EXPORT_GUID	(	NonlinearEqualityPose3	,
		"gtsam::NonlinearEqualityPose3"
	)

BOOST_CLASS_EXPORT_GUID	(	NonlinearEqualityCal3_S2	,
		"gtsam::NonlinearEqualityCal3_S2"
	)

BOOST_CLASS_EXPORT_GUID	(	NonlinearEqualityCal3DS2	,
		"gtsam::NonlinearEqualityCal3DS2"
	)

BOOST_CLASS_EXPORT_GUID	(	NonlinearEqualityCalibratedCamera	,
		"gtsam::NonlinearEqualityCalibratedCamera"
	)

BOOST_CLASS_EXPORT_GUID	(	NonlinearEqualityStereoCamera	,
		"gtsam::NonlinearEqualityStereoCamera"
	)

BOOST_CLASS_EXPORT_GUID	(	RangeFactor2D	,
		"gtsam::RangeFactor2D"
	)

BOOST_CLASS_EXPORT_GUID	(	RangeFactor3D	,
		"gtsam::RangeFactor3D"
	)

BOOST_CLASS_EXPORT_GUID	(	RangeFactorPose2	,
		"gtsam::RangeFactorPose2"
	)

BOOST_CLASS_EXPORT_GUID	(	RangeFactorPose3	,
		"gtsam::RangeFactorPose3"
	)

BOOST_CLASS_EXPORT_GUID	(	RangeFactorCalibratedCameraPoint	,
		"gtsam::RangeFactorCalibratedCameraPoint"
	)

BOOST_CLASS_EXPORT_GUID	(	RangeFactorPinholeCameraCal3_S2Point	,
		"gtsam::RangeFactorPinholeCameraCal3_S2Point"
	)

BOOST_CLASS_EXPORT_GUID	(	RangeFactorCalibratedCamera	,
		"gtsam::RangeFactorCalibratedCamera"
	)

BOOST_CLASS_EXPORT_GUID	(	RangeFactorPinholeCameraCal3_S2	,
		"gtsam::RangeFactorPinholeCameraCal3_S2"
	)

BOOST_CLASS_EXPORT_GUID	(	BearingRangeFactor2D	,
		"gtsam::BearingRangeFactor2D"
	)

BOOST_CLASS_EXPORT_GUID	(	GenericProjectionFactorCal3_S2	,
		"gtsam::GenericProjectionFactorCal3_S2"
	)

BOOST_CLASS_EXPORT_GUID	(	GenericProjectionFactorCal3DS2	,
		"gtsam::GenericProjectionFactorCal3DS2"
	)

BOOST_CLASS_EXPORT_GUID	(	GeneralSFMFactorCal3_S2	,
		"gtsam::GeneralSFMFactorCal3_S2"
	)

BOOST_CLASS_EXPORT_GUID	(	GeneralSFMFactorCal3DS2	,
		"gtsam::GeneralSFMFactorCal3DS2"
	)

BOOST_CLASS_EXPORT_GUID	(	GeneralSFMFactor2Cal3_S2	,
		"gtsam::GeneralSFMFactor2Cal3_S2"
	)

BOOST_CLASS_EXPORT_GUID	(	GenericStereoFactor3D	,
		"gtsam::GenericStereoFactor3D"
	)

GTSAM_VALUE_EXPORT

(

gtsam::Point2

)

GTSAM_VALUE_EXPORT

(

gtsam::StereoPoint2

)

GTSAM_VALUE_EXPORT

(

gtsam::Point3

)

GTSAM_VALUE_EXPORT

(

gtsam::Rot2

)

GTSAM_VALUE_EXPORT

(

gtsam::Rot3

)

GTSAM_VALUE_EXPORT

(

gtsam::Pose2

)

GTSAM_VALUE_EXPORT

(

gtsam::Pose3

)

GTSAM_VALUE_EXPORT

(

gtsam::Cal3_S2

)

GTSAM_VALUE_EXPORT

(

gtsam::Cal3DS2

)

GTSAM_VALUE_EXPORT

(

gtsam::Cal3_S2Stereo

)

GTSAM_VALUE_EXPORT

(

gtsam::CalibratedCamera

)

GTSAM_VALUE_EXPORT

(

gtsam::PinholeCameraCal3_S2

)

GTSAM_VALUE_EXPORT

(

gtsam::StereoCamera

)

int main

(

void

)

Definition at line 597 of file testSerializationSLAM.cpp.

TEST	(	testSerializationSLAM	,
		smallExample_linear
	)

Definition at line 208 of file testSerializationSLAM.cpp.

TEST	(	testSerializationSLAM	,
		gaussianISAM
	)

Definition at line 228 of file testSerializationSLAM.cpp.

TEST	(	testSerializationSLAM	,
		smallExample_nonlinear
	)

Definition at line 246 of file testSerializationSLAM.cpp.

TEST	(	testSerializationSLAM	,
		factors
	)

Definition at line 260 of file testSerializationSLAM.cpp.