VectorSerialization.h

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/* ----------------------------------------------------------------------------
 
 * GTSAM Copyright 2010, Georgia Tech Research Corporation,
 * Atlanta, Georgia 30332-0415
 * All Rights Reserved
 * Authors: Frank Dellaert, et al. (see THANKS for the full author list)
 
 * See LICENSE for the license information
 
 * -------------------------------------------------------------------------- */
 
// Defined only if boost serialization is enabled
#if GTSAM_ENABLE_BOOST_SERIALIZATION
#pragma once
 
#include <gtsam/base/Vector.h>
 
#include <boost/serialization/array.hpp>
#include <boost/serialization/nvp.hpp>
#include <boost/serialization/split_free.hpp>
 
namespace boost {
namespace serialization {
 
// split version - copies into an STL vector for serialization
template <class Archive>
void save(Archive& ar, const gtsam::Vector& v, unsigned int /*version*/) {
  const size_t size = v.size();
  ar << BOOST_SERIALIZATION_NVP(size);
  ar << make_nvp("data", make_array(v.data(), v.size()));
}
 
template <class Archive>
void load(Archive& ar, gtsam::Vector& v, unsigned int /*version*/) {
  size_t size;
  ar >> BOOST_SERIALIZATION_NVP(size);
  v.resize(size);
  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)
#endif