WIP: remove CObject and CSerializable

libs/base/include/mrpt/math/CMatrix.h

@@ -9,30 +9,22 @@
 #ifndef CMATRIX_H
 #define CMATRIX_H
 
-#include <mrpt/utils/CSerializable.h>
 #include <mrpt/math/CMatrixTemplateNumeric.h>
 #include <mrpt/math/CMatrixFixedNumeric.h>
+#include <memory>
 
 namespace mrpt
 {
 	namespace math
 	{
-		// This must be added to any CSerializable derived class:
-		// Note: instead of the standard "DEFINE_SERIALIZABLE_PRE_CUSTOM_BASE", classes inheriting
-		// from templates need special nasty handling for MSVC DLL exports...
-		DEFINE_MRPT_OBJECT_PRE_CUSTOM_BASE_LINKAGE2(CMatrix, mrpt::utils::CSerializable, CMatrix)
-		BASE_IMPEXP ::mrpt::utils::CStream& operator>>(mrpt::utils::CStream& in, CMatrixPtr &pObj);
-
 		/**  This class is a "CSerializable" wrapper for "CMatrixFloat".
 		 * \note For a complete introduction to Matrices and vectors in MRPT, see: http://www.mrpt.org/Matrices_vectors_arrays_and_Linear_Algebra_MRPT_and_Eigen_classes
 		 * \ingroup mrpt_base_grp
 		 */
-		class BASE_IMPEXP_TEMPL CMatrix : public mrpt::utils::CSerializable, public CMatrixFloat
+		class BASE_IMPEXP_TEMPL CMatrix : public CMatrixFloat
 		{
-			// This must be added to any CSerializable derived class:
-			DEFINE_SERIALIZABLE_CUSTOM_LINKAGE( CMatrix, void BASE_IMPEXP, static BASE_IMPEXP, virtual BASE_IMPEXP )
-
 		public:
+			typedef std::shared_ptr<CMatrix> Ptr;
 			/** Constructor  */
 			CMatrix() : CMatrixFloat(1,1)
 			{ }
@@ -80,9 +72,10 @@ namespace mrpt
 			/*! Constructor from any other Eigen class */
 			template<typename OtherDerived>
 			inline CMatrix(const Eigen::MatrixBase <OtherDerived>& other) : CMatrixTemplateNumeric<float>(other) { }
-
+			void writeToStream(mrpt::utils::CStream &out, int *version) const;
+			void readFromStream(mrpt::utils::CStream &in, int version);
 		}; // end of class definition
-		DEFINE_MRPT_OBJECT_POST_CUSTOM_BASE_LINKAGE2(CMatrix, mrpt::utils::CSerializable, CMatrix)
+		BASE_IMPEXP ::mrpt::utils::CStream& operator>>(mrpt::utils::CStream& in, CMatrix::Ptr &pObj);
 
 	} // End of namespace
 } // End of namespace

libs/base/include/mrpt/math/CMatrixB.h

@@ -16,26 +16,23 @@ namespace mrpt
 {
 	namespace math
 	{
-		// This must be added to any CSerializable derived class:
-		DEFINE_SERIALIZABLE_PRE_CUSTOM_BASE( CMatrixB, mrpt::utils::CSerializable )
-
 		/**  This class is a "CSerializable" wrapper for "CMatrixBool".
 		 * \note For a complete introduction to Matrices and vectors in MRPT, see: http://www.mrpt.org/Matrices_vectors_arrays_and_Linear_Algebra_MRPT_and_Eigen_classes
 		 * \ingroup mrpt_base_grp
 		 */
-		class BASE_IMPEXP CMatrixB : public mrpt::utils::CSerializable, public CMatrixBool
+		class BASE_IMPEXP CMatrixB : public CMatrixBool
 		{
-			// This must be added to any CSerializable derived class:
-			DEFINE_SERIALIZABLE( CMatrixB )
 		public:
+			typedef std::shared_ptr<CMatrixB> Ptr;
 			/** Constructor */
 			CMatrixB(size_t row = 1, size_t col = 1) : CMatrixBool(row,col) { }
 			/** Copy constructor */
 			CMatrixB( const CMatrixBool &m ) : CMatrixBool(m)  { }
 			/** Assignment operator for float matrixes */
 			CMatrixB & operator = (const CMatrixBool& m) { CMatrixBool::operator =(m); return *this; }
+			void writeToStream(mrpt::utils::CStream &out, int *out_Version) const;
+			void readFromStream(mrpt::utils::CStream &in, int version);
 		}; // end of class definition
-		DEFINE_SERIALIZABLE_POST_CUSTOM_BASE( CMatrixB, mrpt::utils::CSerializable )
 
 	} // End of namespace
 } // End of namespace

libs/base/include/mrpt/math/CMatrixD.h

@@ -9,29 +9,22 @@
 #ifndef CMATRIXD_H
 #define CMATRIXD_H
 
-#include <mrpt/utils/CSerializable.h>
 #include <mrpt/math/CMatrixTemplateNumeric.h>
-
+#include <memory>
 namespace mrpt
 {
 	namespace math
 	{
-		// This must be added to any CSerializable derived class:
-		// Note: instead of the standard "DEFINE_SERIALIZABLE_PRE_CUSTOM_BASE", classes inheriting
-		// from templates need special nasty handling for MSVC DLL exports...
-		DEFINE_MRPT_OBJECT_PRE_CUSTOM_BASE_LINKAGE2(CMatrixD, mrpt::utils::CSerializable, CMatrixD)
-		BASE_IMPEXP ::mrpt::utils::CStream& operator>>(mrpt::utils::CStream& in, CMatrixDPtr &pObj);
 
 
 		/**  This class is a "CSerializable" wrapper for "CMatrixTemplateNumeric<double>".
 		 * \note For a complete introduction to Matrices and vectors in MRPT, see: http://www.mrpt.org/Matrices_vectors_arrays_and_Linear_Algebra_MRPT_and_Eigen_classes
 		 * \ingroup mrpt_base_grp
 		 */
-		class BASE_IMPEXP_TEMPL CMatrixD : public mrpt::utils::CSerializable, public CMatrixTemplateNumeric<double>
+		class BASE_IMPEXP_TEMPL CMatrixD : public CMatrixTemplateNumeric<double>
 		{
-			// This must be added to any CSerializable derived class:
-			DEFINE_SERIALIZABLE_CUSTOM_LINKAGE( CMatrixD, void BASE_IMPEXP, static BASE_IMPEXP, virtual BASE_IMPEXP )
 		public:
+			typedef std::shared_ptr<CMatrixD> Ptr;
 			/** Constructor */
 			CMatrixD() : CMatrixTemplateNumeric<double>(1,1)
 			{ }
@@ -68,8 +61,11 @@ namespace mrpt
 			/** Constructor from a TPoint3D, which generates a 3x1 matrix \f$ [x y z]^T \f$ */
 			explicit CMatrixD( const TPoint3D &p);
 
+			void  writeToStream(mrpt::utils::CStream &out, int *out_Version) const;
+			void  readFromStream(mrpt::utils::CStream &in, int version);
 		}; // end of class definition
-		DEFINE_MRPT_OBJECT_POST_CUSTOM_BASE_LINKAGE2(CMatrixD, mrpt::utils::CSerializable, CMatrixD)
+
+		BASE_IMPEXP ::mrpt::utils::CStream& operator>>(mrpt::utils::CStream& in, CMatrixD::Ptr &pObj);
 
 	} // End of namespace
 } // End of namespace

libs/base/include/mrpt/math/CMatrixFixedNumeric.h

@@ -12,8 +12,8 @@
 #include <mrpt/math/math_frwds.h>  // Forward declarations
 #include <mrpt/math/eigen_frwds.h>
 #include <mrpt/utils/types_math.h>
-#include <mrpt/utils/CSerializable.h>
 #include <mrpt/math/point_poses2vectors.h> // MRPT_MATRIX_CONSTRUCTORS_FROM_POSES()
+#include <mrpt/utils/mrpt_macros.h>
 
 namespace mrpt
 {
@@ -104,14 +104,6 @@ namespace mrpt
 
 	} // End of namespace
 
-	namespace utils
-	{
-		// Extensions to mrpt::utils::TTypeName for matrices:
-		template<typename T,size_t N,size_t M> struct TTypeName <mrpt::math::CMatrixFixedNumeric<T,N,M> > {
-			static std::string get() { return mrpt::format("CMatrixFixedNumeric<%s,%u,%u>",TTypeName<T>::get().c_str(),(unsigned int)N,(unsigned int)M); }
-		};
-	}
-
 } // End of namespace
 
 #endif

libs/base/include/mrpt/math/CPolygon.h

@@ -9,24 +9,14 @@
 #ifndef CPOLYGON_H
 #define CPOLYGON_H
 
-#include <mrpt/utils/CSerializable.h>
 #include <mrpt/math/lightweight_geom_data.h>
 
 namespace mrpt
 {
 namespace math
 {
-	// This must be added to any CSerializable derived class:
-	DEFINE_SERIALIZABLE_PRE_CUSTOM_BASE( CPolygon, mrpt::utils::CSerializable )
-
-	/** A wrapper of a TPolygon2D class, implementing CSerializable.
-	 * \ingroup geometry_grp
-	 */
-	class BASE_IMPEXP CPolygon : public mrpt::utils::CSerializable, public mrpt::math::TPolygon2D
+	class BASE_IMPEXP CPolygon : public mrpt::math::TPolygon2D
 	{
-		// This must be added to any CSerializable derived class:
-		DEFINE_SERIALIZABLE( CPolygon )
-
 	public:
 		/** Default constructor (empty polygon, 0 vertices) */
 		CPolygon() : TPolygon2D()
@@ -61,8 +51,9 @@ namespace math
 		bool  PointIntoPolygon(double x,double y) const {
 			return TPolygon2D::contains(TPoint2D(x,y));
 		}
+		void writeToStream(mrpt::utils::CStream &out, int *version) const;
+		void readFromStream(mrpt::utils::CStream &in, int version);
 	};
-	DEFINE_SERIALIZABLE_POST_CUSTOM_BASE( CPolygon, mrpt::utils::CSerializable )
 
 	} // End of namespace
 } // End of namespace

libs/base/include/mrpt/math/CSplineInterpolator1D.h

@@ -10,27 +10,21 @@
 #define CSplineInterpolator1D_H
 
 #include <mrpt/utils/utils_defs.h>
-#include <mrpt/utils/CSerializable.h>
+#include <mrpt/utils/CStream.h>
 #include <map>
 
 namespace mrpt
 {
 	namespace math
 	{
-		// This must be added to any CSerializable derived class:
-		DEFINE_SERIALIZABLE_PRE_CUSTOM_BASE( CSplineInterpolator1D, mrpt::utils::CSerializable )
-
 		/** A (persistent) sequence of (x,y) coordinates, allowing queries of intermediate points through spline interpolation, where possible.
 		  *  This class internally relies on mrpt::math::spline. Optionally the y coordinate can be set as wrapped in ]-pi,pi].
 		  *  For querying interpolated points, see
 		  * \ sa mrpt::math::spline, mrpt::poses::CPose3DInterpolator
 		 * \ingroup interpolation_grp
 		 */
-		class BASE_IMPEXP CSplineInterpolator1D : public mrpt::utils::CSerializable
+		class BASE_IMPEXP CSplineInterpolator1D
 		{
-			// This must be added to any CSerializable derived class:
-			DEFINE_SERIALIZABLE( CSplineInterpolator1D )
-
 		private:
 			/** The placeholders for the data */
 			std::map<double,double>	m_x2y;
@@ -102,10 +96,9 @@ namespace mrpt
 				}
 				return anyValid;
 			}
-
+			void writeToStream(mrpt::utils::CStream &out, int *version) const;
+			void readFromStream(mrpt::utils::CStream &in, int version);
 		};
-		DEFINE_SERIALIZABLE_POST_CUSTOM_BASE( CSplineInterpolator1D, mrpt::utils::CSerializable )
-
 	} // End of namespace
 } // End of namespace
 #endif

libs/base/include/mrpt/math/matrix_serialization.h

@@ -30,17 +30,15 @@ namespace mrpt
 		/** Read operator from a CStream. The format is compatible with that of CMatrix & CMatrixD */
 		template <size_t NROWS,size_t NCOLS>
 		mrpt::utils::CStream &operator>>(mrpt::utils::CStream &in, CMatrixFixedNumeric<float,NROWS,NCOLS> & M) {
-			CMatrix  aux;
-			in.ReadObject(&aux);
+			CMatrix &aux = boost::get<CMatrix>(in.ReadObject());
 			ASSERTMSG_(M.cols()==aux.cols() && M.rows()==aux.rows(), format("Size mismatch: deserialized is %ux%u, expected is %ux%u",(unsigned)aux.getRowCount(),(unsigned)aux.getColCount(),(unsigned)NROWS,(unsigned)NCOLS))
 			M = aux;
 			return in;
 		}
 		/** Read operator from a CStream. The format is compatible with that of CMatrix & CMatrixD */
 		template <size_t NROWS,size_t NCOLS>
 		mrpt::utils::CStream &operator>>(mrpt::utils::CStream &in, CMatrixFixedNumeric<double,NROWS,NCOLS> & M) {
-			CMatrixD  aux;
-			in.ReadObject(&aux);
+			const CMatrixD &aux = boost::get<CMatrixD>(in.ReadObject());
 			ASSERTMSG_(M.cols()==aux.cols() && M.rows()==aux.rows(), format("Size mismatch: deserialized is %ux%u, expected is %ux%u",(unsigned)aux.getRowCount(),(unsigned)aux.getColCount(),(unsigned)NROWS,(unsigned)NCOLS))
 			M = aux;
 			return in;