diff --git a/serialization/CMakeLists.txt b/serialization/CMakeLists.txt
deleted file mode 100644
index a853ba8ec5158727fcd4bfd9752d6de398c5aefa..0000000000000000000000000000000000000000
--- a/serialization/CMakeLists.txt
+++ /dev/null
@@ -1 +0,0 @@
-add_subdirectory(cereal)
diff --git a/serialization/cereal/CMakeLists.txt b/serialization/cereal/CMakeLists.txt
deleted file mode 100644
index 1ae16bcd213401f6558a4ee80c2c5a8ef8c5f171..0000000000000000000000000000000000000000
--- a/serialization/cereal/CMakeLists.txt
+++ /dev/null
@@ -1,26 +0,0 @@
-INCLUDE_DIRECTORIES(${CMAKE_CURRENT_SOURCE_DIR})
-
-SET(HDRS_SERIALIZATION ${HDRS_SERIALIZATION}
- ${CMAKE_CURRENT_SOURCE_DIR}/serialization_eigen_core.h
- ${CMAKE_CURRENT_SOURCE_DIR}/serialization_eigen_geometry.h
- ${CMAKE_CURRENT_SOURCE_DIR}/serialization_eigen_sparse.h
-
- ${CMAKE_CURRENT_SOURCE_DIR}/serialization_local_parametrization_base.h
- ${CMAKE_CURRENT_SOURCE_DIR}/serialization_local_parametrization_homogeneous.h
- ${CMAKE_CURRENT_SOURCE_DIR}/serialization_local_parametrization_quaternion.h
-
- ${CMAKE_CURRENT_SOURCE_DIR}/serialization_node_base.h
-
- ${CMAKE_CURRENT_SOURCE_DIR}/serialization_sensor_intrinsic_base.h
- ${CMAKE_CURRENT_SOURCE_DIR}/serialization_sensor_odom2d_intrinsic.h
-
- ${CMAKE_CURRENT_SOURCE_DIR}/serialization_processor_params_base.h
- ${CMAKE_CURRENT_SOURCE_DIR}/serialization_processor_odom2d_params.h
- ${CMAKE_CURRENT_SOURCE_DIR}/serialization_processor_odom3d_params.h
-
- ${CMAKE_CURRENT_SOURCE_DIR}/serialization_time_stamp.h
-
- ${CMAKE_CURRENT_SOURCE_DIR}/archives.h
- ${CMAKE_CURRENT_SOURCE_DIR}/io.h
-
- PARENT_SCOPE)
diff --git a/serialization/cereal/archives.h b/serialization/cereal/archives.h
deleted file mode 100644
index d8c16fd180ef04049ceedaf268fa33782790d27a..0000000000000000000000000000000000000000
--- a/serialization/cereal/archives.h
+++ /dev/null
@@ -1,9 +0,0 @@
-#ifndef _WOLF_IO_CEREAL_ARCHIVE_H_
-#define _WOLF_IO_CEREAL_ARCHIVE_H_
-
-#include <cereal/archives/binary.hpp>
-#include <cereal/archives/json.hpp>
-#include <cereal/archives/portable_binary.hpp>
-#include <cereal/archives/xml.hpp>
-
-#endif /* _WOLF_IO_CEREAL_ARCHIVE_H_ */
diff --git a/serialization/cereal/io.h b/serialization/cereal/io.h
deleted file mode 100644
index 8a8e58c2d8a873b4d327e1c8639fc007cb8604aa..0000000000000000000000000000000000000000
--- a/serialization/cereal/io.h
+++ /dev/null
@@ -1,229 +0,0 @@
-#ifndef _WOLF_SERIALIZATION_CEREAL_IO_H_
-#define _WOLF_SERIALIZATION_CEREAL_IO_H_
-
-#include <stdexcept>
-#include "archives.h"
-
-//#include <cereal/types/tuple.hpp>
-
-namespace wolf {
-namespace serialization {
-
-/// @todo demangle typeid.name ?
-template <typename T>
-inline const std::string& type_name(const T&)
-{
- static const std::string typeid_name = typeid(T).name();
- return typeid_name;
-}
-
-inline std::string extension(const std::string& file)
-{
- const std::size_t p = file.find_last_of(".");
- return (p != std::string::npos) ? file.substr(p) : "";
-}
-
-//struct Extensions
-//{
-// constexpr static const char* bin = ".bin";
-// constexpr static const char* json = ".json";
-// constexpr static const char* xml = ".xml";
-
-// constexpr static const char* fall_back = json;
-//};
-
-//enum class Extensions2 : std::size_t
-//{
-// BIN = 0,
-//// CBIN,
-// JSON,
-//// TEXT,
-// XML,
-//};
-
-//template <char... Chars>
-//struct constexp_str
-//{
-// using type = constexp_str<Chars...>;
-
-// virtual ~constexp_str() = default;
-
-// constexpr static const char value[sizeof...(Chars)+1] = {Chars..., '\0'};
-
-// constexpr static std::size_t size() { return sizeof...(Chars); }
-
-// constexpr static const char* c_str() { return &value[0]; }
-
-//// constexpr static bool comp(const std::string& s) { return s == value; }
-
-// /*constexpr*/ bool operator == (const std::string& s) { return s == value; }
-
-// constexpr /*static*/ operator const char* () { return c_str(); }
-// constexpr /*static*/ operator std::string& () { return c_str(); }
-//};
-
-struct Extensions
-{
-// template <char... Chars>
-// struct EXT : constexp_str<Chars...>
-// {
-// //
-// };
-
-// struct BIN : EXT<'.','b','i','n'> { };
-// struct XML : EXT<'.','x','m','l'> { };
-// struct JSON : EXT<'.','j','s','o','n'> { };
-
- struct EXT { virtual ~EXT() = default; };
-
- struct BIN : EXT
- {
- constexpr static const char* value = ".bin";
- bool operator == (const std::string& s) { return value == s; }
- };
-
- struct XML : EXT
- {
- constexpr static const char* value = ".xml";
- bool operator == (const std::string& s) { return value == s; }
- };
-
- struct JSON : EXT
- {
- constexpr static const char* value = ".json";
- bool operator == (const std::string& s) { return value == s; }
- };
-};
-
-template <typename Ar>
-void serialize_pack(Ar&&)
-{
- // end of expansion
-}
-
-template <typename Ar, typename T, typename... Args>
-void serialize_pack(Ar&& archive, T&& object, Args&&... args)
-{
- archive( cereal::make_nvp(type_name(object), std::forward<T>(object)) );
- serialize_pack(archive, std::forward<Args>(args)...);
-}
-
-template <typename Ar, typename S, typename T, typename... Args>
-void serialize(S& stream, T&& object, Args&&... args)
-{
- Ar archive(stream);
- archive( cereal::make_nvp(type_name(object), std::forward<T>(object)) );
-
- serialize_pack(archive, std::forward<Args>(args)...);
-}
-
-template <typename EXT, typename InAr, typename OutAr>
-struct Serializer
-{
- template <typename S, typename... T>
- static void serialize_in(S& stream, T&... object)
- {
- serialize<InAr>(stream, object...);
- }
-
- template <typename S, typename... T>
- static void serialize_out(S& stream, T&&... object)
- {
- serialize<OutAr>(stream, std::forward<T>(object)...);
- }
-
- template <typename... T>
- static void save(std::string filename, T&&... o)
- {
- const std::string ext = serialization::extension(filename);
-
- if (ext != EXT::value) filename += EXT::value;
-
- std::ofstream os(filename);
- serialize_out(os, std::forward<T>(o)...);
- }
-
- template <typename... T>
- static void load(std::string filename, T&... o)
- {
- const std::string ext = serialization::extension(filename);
-
- if (ext != EXT::value) filename += EXT::value;
-
- std::ifstream is(filename);
- serialize_in(is, o...);
- }
-};
-
-using SerializerBin = Serializer<Extensions::BIN,
- cereal::BinaryInputArchive,
- cereal::BinaryOutputArchive>;
-
-using SerializerXML = Serializer<Extensions::XML,
- cereal::XMLInputArchive,
- cereal::XMLOutputArchive>;
-
-using SerializerJSON = Serializer<Extensions::JSON,
- cereal::JSONInputArchive,
- cereal::JSONOutputArchive>;
-
-} /* namespace serialization */
-
-template <typename... T>
-void save(const std::string& filename, T&&... o)
-throw(std::runtime_error)
-{
- const std::string ext = serialization::extension(filename);
-
- if (ext == serialization::Extensions::BIN::value)
- {
- serialization::SerializerBin::save(filename, std::forward<T>(o)...);
- }
- else if (ext == serialization::Extensions::JSON::value)
- {
- serialization::SerializerJSON::save(filename, std::forward<T>(o)...);
- }
- else if (ext == serialization::Extensions::XML::value)
- {
- serialization::SerializerXML::save(filename, std::forward<T>(o)...);
- }
- else if (ext == "") // falback is json
- {
- serialization::SerializerJSON::save(filename, std::forward<T>(o)...);
- }
- else
- {
- throw std::runtime_error("Unknown file extension : " + filename);
- }
-}
-
-template <typename... T>
-void load(const std::string& filename, T&... o)
-{
- const std::string ext = serialization::extension(filename);
-
- if (ext == serialization::Extensions::BIN::value)
- {
- serialization::SerializerBin::load(filename, o...);
- }
- else if (ext == serialization::Extensions::XML::value)
- {
- serialization::SerializerXML::load(filename, o...);
- }
- else if (ext == serialization::Extensions::JSON::value)
- {
- serialization::SerializerJSON::load(filename, o...);
- }
- else if (ext == "") // falback is json
- {
- serialization::SerializerJSON::load(filename, o...);
- }
- else
- {
- throw std::runtime_error("Unknown file extension : " + filename);
- }
-}
-
-} /* namespace wolf */
-
-#endif /* _WOLF_SERIALIZATION_CEREAL_IO_H_ */
diff --git a/serialization/cereal/serialization_eigen_core.h b/serialization/cereal/serialization_eigen_core.h
deleted file mode 100644
index 8fb5b9b0c99637e7b4aed9efb3aaf68007aafb79..0000000000000000000000000000000000000000
--- a/serialization/cereal/serialization_eigen_core.h
+++ /dev/null
@@ -1,125 +0,0 @@
-#ifndef _WOLF_IO_CEREAL_EIGEN_H_
-#define _WOLF_IO_CEREAL_EIGEN_H_
-
-// Wolf includes
-#include <Eigen/Dense>
-#include <cereal/cereal.hpp>
-
-namespace cereal {
-
-/**
- * @brief Save Eigen::Matrix<...> to text based archives
- */
-template<class Archive, typename _Scalar, int _Rows, int _Cols, int _Options, int _MaxRows, int _MaxCols>
-inline typename std::enable_if<!traits::is_output_serializable<BinaryData<_Scalar>, Archive>::value,
-void>::type save(Archive& ar,
- const Eigen::Matrix<_Scalar, _Rows, _Cols, _Options, _MaxRows, _MaxCols>& mat)
-{
- decltype(mat.rows()) rows = mat.rows();
- decltype(mat.cols()) cols = mat.cols();
-
- ar(cereal::make_nvp("rows", rows));
- ar(cereal::make_nvp("cols", cols));
-
- /// @todo find out something
- std::cerr << "Saving Eigen type to text-based archive is NOT supported !\n";
-}
-
-/**
- * @brief Save Eigen::Matrix<...> to binary based archives
- */
-template<class Archive, typename _Scalar, int _Rows, int _Cols, int _Options, int _MaxRows, int _MaxCols>
-inline typename std::enable_if<traits::is_output_serializable<BinaryData<_Scalar>, Archive>::value,
-void>::type save(Archive& ar,
- const Eigen::Matrix<_Scalar, _Rows, _Cols, _Options, _MaxRows, _MaxCols>& mat)
-{
- decltype(mat.rows()) rows = mat.rows();
- decltype(mat.cols()) cols = mat.cols();
-
- ar(rows);
- ar(cols);
-
- ar(binary_data(mat.data(), static_cast<std::size_t>(rows * cols * sizeof(_Scalar))));
-}
-
-/**
- * @brief Load compile-time sized Eigen::Matrix from text based archives
- */
-template<class Archive, typename _Scalar, int _Rows, int _Cols, int _Options, int _MaxRows, int _MaxCols>
-inline typename std::enable_if<!traits::is_input_serializable<BinaryData<_Scalar>, Archive>::value and
- _Rows != Eigen::Dynamic and _Cols != Eigen::Dynamic,
-void>::type load(Archive& ar,
- Eigen::Matrix<_Scalar, _Rows, _Cols, _Options, _MaxRows, _MaxCols>& mat)
-{
- decltype(mat.rows()) rows;
- decltype(mat.cols()) cols;
-
- ar(cereal::make_nvp("rows", rows));
- ar(cereal::make_nvp("cols", cols));
-
- /// @todo find out something
- std::cerr << "Saving Eigen type to text-based archive is NOT supported !\n";
-}
-
-/**
- * @brief Load dynamic sized Eigen::Matrix from text based archives
- */
-template<class Archive, typename _Scalar, int _Rows, int _Cols, int _Options, int _MaxRows, int _MaxCols>
-inline typename std::enable_if<!traits::is_input_serializable<BinaryData<_Scalar>, Archive>::value and
- (_Rows == Eigen::Dynamic or _Cols == Eigen::Dynamic),
-void>::type load(Archive& ar,
- Eigen::Matrix<_Scalar, _Rows, _Cols, _Options, _MaxRows, _MaxCols>& mat)
-{
- decltype(mat.rows()) rows;
- decltype(mat.cols()) cols;
-
- ar(cereal::make_nvp("rows", rows));
- ar(cereal::make_nvp("cols", cols));
-
- /// @todo find out something
- std::cerr << "Saving Eigen type to text-based archive is NOT supported !\n";
-
- //mat.resize(rows, cols);
-}
-
-/**
- * @brief Load compile-time sized Eigen::Matrix from binary based archives
- */
-template<class Archive, typename _Scalar, int _Rows, int _Cols, int _Options, int _MaxRows, int _MaxCols>
-inline typename std::enable_if<traits::is_input_serializable<BinaryData<_Scalar>, Archive>::value and
- _Rows != Eigen::Dynamic and _Cols != Eigen::Dynamic,
-void>::type load(Archive& ar,
- Eigen::Matrix<_Scalar, _Rows, _Cols, _Options, _MaxRows, _MaxCols>& mat)
-{
- decltype(mat.rows()) rows;
- decltype(mat.cols()) cols;
-
- ar(rows);
- ar(cols);
-
- ar(binary_data(mat.data(), static_cast<std::size_t>(rows * cols * sizeof(_Scalar))));
-}
-
-/**
- * @brief Load dynamic sized Eigen::Matrix from binary based archives
- */
-template<class Archive, typename _Scalar, int _Rows, int _Cols, int _Options, int _MaxRows, int _MaxCols>
-inline typename std::enable_if<traits::is_input_serializable<BinaryData<_Scalar>, Archive>::value and
- (_Rows == Eigen::Dynamic or _Cols == Eigen::Dynamic),
-void>::type load(Archive& ar,
- Eigen::Matrix<_Scalar, _Rows, _Cols, _Options, _MaxRows, _MaxCols>& mat)
-{
- decltype(mat.rows()) rows;
- decltype(mat.cols()) cols;
-
- ar(rows);
- ar(cols);
-
- mat.resize(rows, cols);
-
- ar(binary_data(mat.data(), static_cast<std::size_t>(rows * cols * sizeof(_Scalar))));
-}
-
-} // namespace cereal
-
-#endif /* _WOLF_IO_CEREAL_EIGEN_H_ */
diff --git a/serialization/cereal/serialization_eigen_geometry.h b/serialization/cereal/serialization_eigen_geometry.h
deleted file mode 100644
index f5d3ac61fa92c85d5c2b98670e86e5c6d3d68c24..0000000000000000000000000000000000000000
--- a/serialization/cereal/serialization_eigen_geometry.h
+++ /dev/null
@@ -1,38 +0,0 @@
-#ifndef _WOLF_IO_CEREAL_EIGEN_GEOMETRY_H_
-#define _WOLF_IO_CEREAL_EIGEN_GEOMETRY_H_
-
-// Wolf includes
-#include <Eigen/Geometry>
-
-#include "serialization_eigen_core.h"
-
-namespace cereal {
-
-template<class Archive, typename _Scalar, int _Dim, int _Mode, int _Options>
-inline void save(Archive& ar,
- const Eigen::Transform<_Scalar, _Dim, _Mode, _Options>& t)
-{
- save(ar, t.matrix());
-}
-
-template<class Archive, typename _Scalar, int _Dim, int _Mode, int _Options>
-inline void load(Archive& ar,
- Eigen::Transform<_Scalar, _Dim, _Mode, _Options>& t)
-{
- load(ar, t.matrix());
-}
-
-template<class Archive, typename _Scalar>
-void serialize(Archive & ar,
- Eigen::Quaternion<_Scalar>& q,
- const std::uint32_t /*version*/)
-{
- ar(cereal::make_nvp("w", q.w()));
- ar(cereal::make_nvp("x", q.x()));
- ar(cereal::make_nvp("y", q.y()));
- ar(cereal::make_nvp("z", q.z()));
-}
-
-} // namespace cereal
-
-#endif /* _WOLF_IO_CEREAL_EIGEN_GEOMETRY_H_ */
diff --git a/serialization/cereal/serialization_eigen_sparse.h b/serialization/cereal/serialization_eigen_sparse.h
deleted file mode 100644
index 9039b6920bc74abb3b4ff9efa4e0b935674ca53f..0000000000000000000000000000000000000000
--- a/serialization/cereal/serialization_eigen_sparse.h
+++ /dev/null
@@ -1,79 +0,0 @@
-#ifndef _WOLF_IO_CEREAL_EIGEN_GEOMETRY_H_
-#define _WOLF_IO_CEREAL_EIGEN_GEOMETRY_H_
-
-// Wolf includes
-#include <Eigen/Sparse>
-
-#include "serialization_eigen_core.h"
-#include <cereal/types/vector.hpp>
-
-namespace cereal {
-
-template<class Archive, typename Scalar, typename Index>
-inline void save(Archive& ar,
- const Eigen::Triplet<Scalar, Index>& t)
-{
- ar(cereal::make_nvp("row", t.row()));
- ar(cereal::make_nvp("col", t.col()));
- ar(cereal::make_nvp("value", t.value()));
-}
-
-template<class Archive, typename Scalar, typename Index>
-inline void load(Archive& ar,
- Eigen::Triplet<Scalar, Index>& t)
-{
- Index row, col;
- Scalar value;
-
- ar(cereal::make_nvp("row", row));
- ar(cereal::make_nvp("col", col));
- ar(cereal::make_nvp("value", value));
-
- t = Eigen::Triplet<Scalar, Index>(row, col, value);
-}
-
-template <class Archive, typename _Scalar, int _Options, typename _Index>
-void save(Archive& ar,
- const Eigen::SparseMatrix<_Scalar, _Options, _Index>& m)
-{
- _Index inner_size = m.innerSize();
- _Index outer_size = m.outerSize();
-
- using Triplet = Eigen::Triplet<_Scalar>;
- std::vector<Triplet> triplets;
-
- for (_Index i=0; i < outer_size; ++i)
- for (typename Eigen::SparseMatrix<_Scalar, _Options, _Index>::InnerIterator it(m,i); it; ++it)
- triplets.emplace_back( it.row(), it.col(), it.value() );
-
- ar(cereal::make_nvp("inner_size", inner_size));
- ar(cereal::make_nvp("outer_size", outer_size));
- ar(cereal::make_nvp("triplets", triplets));
-}
-
-template <class Archive, typename _Scalar, int _Options, typename _Index>
-void load(Archive& ar,
- Eigen::SparseMatrix<_Scalar, _Options, _Index>& m)
-{
- _Index inner_size;
- _Index outer_size;
-
- ar(cereal::make_nvp("inner_size", inner_size));
- ar(cereal::make_nvp("outer_size", outer_size));
-
- _Index rows = (m.IsRowMajor)? outer_size : inner_size;
- _Index cols = (m.IsRowMajor)? inner_size : outer_size;
-
- m.resize(rows, cols);
-
- using Triplet = Eigen::Triplet<_Scalar>;
- std::vector<Triplet> triplets;
-
- ar(cereal::make_nvp("triplets", triplets));
-
- m.setFromTriplets(triplets.begin(), triplets.end());
-}
-
-} // namespace cereal
-
-#endif /* _WOLF_IO_CEREAL_EIGEN_GEOMETRY_H_ */
diff --git a/serialization/cereal/serialization_local_parametrization_base.h b/serialization/cereal/serialization_local_parametrization_base.h
deleted file mode 100644
index b43c35673ae05e9088c045c167fa9a02a3139c8a..0000000000000000000000000000000000000000
--- a/serialization/cereal/serialization_local_parametrization_base.h
+++ /dev/null
@@ -1,26 +0,0 @@
-#ifndef _WOLF_IO_CEREAL_LOCAL_PARAMETRIZATION_BASE_H_
-#define _WOLF_IO_CEREAL_LOCAL_PARAMETRIZATION_BASE_H_
-
-#include "core/state_block/local_parametrization_base.h"
-
-#include <cereal/cereal.hpp>
-#include <cereal/types/polymorphic.hpp>
-
-namespace cereal {
-
-// Since classes deriving from LocalParametrizationBase
-// have default constructor calling the non-default
-// LocalParametrizationBase constructor with pre-defined
-// arguments, there is nothing to save here.
-template<class Archive>
-inline void serialize(
- Archive& /*ar*/,
- wolf::LocalParametrizationBase& /*lpb*/,
- std::uint32_t const /*file_version*/)
-{
- //
-}
-
-} //namespace cereal
-
-#endif /* _WOLF_IO_CEREAL_LOCAL_PARAMETRIZATION_BASE_H_ */
diff --git a/serialization/cereal/serialization_local_parametrization_homogeneous.h b/serialization/cereal/serialization_local_parametrization_homogeneous.h
deleted file mode 100644
index 9fcc656d5b86c51eb3995d1a11fbdcc80b1e98c4..0000000000000000000000000000000000000000
--- a/serialization/cereal/serialization_local_parametrization_homogeneous.h
+++ /dev/null
@@ -1,27 +0,0 @@
-#ifndef _WOLF_IO_CEREAL_LOCAL_PARAMETRIZATION_BASE_HOMOGENEOUS_H_
-#define _WOLF_IO_CEREAL_LOCAL_PARAMETRIZATION_BASE_HOMOGENEOUS_H_
-
-#include "core/local_parametrization_homogeneous.h"
-
-#include "serialization_local_parametrization_base.h"
-
-#include <cereal/cereal.hpp>
-
-CEREAL_REGISTER_TYPE_WITH_NAME(wolf::LocalParametrizationHomogeneous,
- "LocalParametrizationHomogeneous");
-
-namespace cereal {
-
-template<class Archive>
-inline void serialize(
- Archive& ar,
- wolf::LocalParametrizationHomogeneous& lp,
- std::uint32_t const /*file_version*/)
-{
- ar( cereal::make_nvp("LocalParametrizationBase",
- cereal::base_class<wolf::LocalParametrizationBase>(&lp)) );
-}
-
-} //namespace cereal
-
-#endif /* _WOLF_IO_CEREAL_LOCAL_PARAMETRIZATION_BASE_HOMOGENEOUS_H_ */
diff --git a/serialization/cereal/serialization_local_parametrization_quaternion.h b/serialization/cereal/serialization_local_parametrization_quaternion.h
deleted file mode 100644
index 66fe30a361f0f1878a9444d9fb487ad2a068ad0d..0000000000000000000000000000000000000000
--- a/serialization/cereal/serialization_local_parametrization_quaternion.h
+++ /dev/null
@@ -1,30 +0,0 @@
-#ifndef WOLF_IO_SERIALIZATION_LOCAL_PARAMETRIZATION_QUATERNION_H_
-#define WOLF_IO_SERIALIZATION_LOCAL_PARAMETRIZATION_QUATERNION_H_
-
-#include "core/local_parametrization_quaternion.h"
-
-#include "serialization_local_parametrization_base.h"
-
-#include <cereal/cereal.hpp>
-
-CEREAL_REGISTER_TYPE_WITH_NAME(wolf::LocalParametrizationQuaternion<wolf::DQ_LOCAL>,
- "wolf_LocalParametrizationQuaternion_DQ_LOCAL")
-
-CEREAL_REGISTER_TYPE_WITH_NAME(wolf::LocalParametrizationQuaternion<wolf::DQ_GLOBAL>,
- "wolf_LocalParametrizationQuaternion_DQ_GLOBAL")
-
-namespace cereal {
-
-template<class Archive, unsigned int DeltaReference>
-inline void serialize(
- Archive &ar,
- wolf::LocalParametrizationQuaternion<DeltaReference> &lp,
- const unsigned int /*file_version*/)
-{
- ar( cereal::make_nvp("LocalParametrizationBase",
- cereal::base_class<wolf::LocalParametrizationBase>(&lp)) );
-}
-
-} //namespace boost
-
-#endif /* WOLF_IO_SERIALIZATION_LOCAL_PARAMETRIZATION_QUATERNION_H_ */
diff --git a/serialization/cereal/serialization_node_base.h b/serialization/cereal/serialization_node_base.h
deleted file mode 100644
index a2c592d6982485de2aebf189e09e764b68022783..0000000000000000000000000000000000000000
--- a/serialization/cereal/serialization_node_base.h
+++ /dev/null
@@ -1,77 +0,0 @@
-#ifndef _WOLF_IO_CEREAL_NODE_BASE_H_
-#define _WOLF_IO_CEREAL_NODE_BASE_H_
-
-// Wolf includes
-#include "core/node_base.h"
-
-#include <cereal/cereal.hpp>
-#include <cereal/types/polymorphic.hpp>
-
-namespace wolf {
-
-struct NodeBase::Serializer {
-
- template <class Archive>
- static void serialize(Archive& ar, NodeBase& o, std::uint32_t const /*version*/)
- {
- ar( cereal::make_nvp("node_class_", o.node_category_) );
- ar( cereal::make_nvp("node_type_", o.node_type_) );
- ar( cereal::make_nvp("node_name_", o.node_name_) );
- ar( cereal::make_nvp("node_id_", o.node_id_) );
-
-// ar( cereal::make_nvp("problem_ptr_", o.problem_ptr_) );
-
- // Not sure what to do with this guy ...
- //ar( cereal::make_nvp("node_id_count_", o.node_id_count_) );
- }
-
- template <class Archive>
- static void load_and_construct( Archive& ar, cereal::construct<wolf::NodeBase>& construct,
- std::uint32_t const /*version*/ )
- {
- decltype(std::declval<wolf::NodeBase>().getCategory()) nb_class;
- decltype(std::declval<wolf::NodeBase>().getType()) nb_type;
- decltype(std::declval<wolf::NodeBase>().getName()) nb_name;
-
- ar( cereal::make_nvp("node_class_", nb_class) );
- ar( cereal::make_nvp("node_type_", nb_type) );
- ar( cereal::make_nvp("node_name_", nb_name) );
-
- construct( nb_class, nb_type, nb_name );
-
- ar( cereal::make_nvp("node_id_", construct->node_id_) );
-
-// ar( cereal::make_nvp("problem_ptr_", construct->problem_ptr_) );
-
- // Not sure what to do with this guy ...
- //ar( cereal::make_nvp("node_id_count_", construct->node_id_count_) );
- }
-};
-
-} // namespace wolf
-
-namespace cereal {
-
-/// @note No default constructor thus the need
-/// for these specializations
-template <>
-struct LoadAndConstruct<wolf::NodeBase>
-{
- template <class Archive>
- static void load_and_construct( Archive& ar,
- cereal::construct<wolf::NodeBase>& construct,
- std::uint32_t const version )
- {
- wolf::NodeBase::Serializer::load_and_construct(ar, construct, version);
- }
-};
-
-template <class Archive>
-void serialize(Archive& ar, wolf::NodeBase& o, std::uint32_t const version)
-{
- wolf::NodeBase::Serializer::serialize(ar, o, version);
-}
-
-} // namespace cereal
-
-#endif /* _WOLF_IO_CEREAL_NODE_BASE_H_ */
diff --git a/serialization/cereal/serialization_processor_odom2d_params.h b/serialization/cereal/serialization_processor_odom2d_params.h
deleted file mode 100644
index dc0416b94634ef8415919c26fa972c86edb99a00..0000000000000000000000000000000000000000
--- a/serialization/cereal/serialization_processor_odom2d_params.h
+++ /dev/null
@@ -1,29 +0,0 @@
-#ifndef _WOLF_SERIALIZATION_CEREAL_PROCESSOR_ODOM2D_PARAMS_H_
-#define _WOLF_SERIALIZATION_CEREAL_PROCESSOR_ODOM2D_PARAMS_H_
-
-// Wolf includes
-#include "core/processor/processor_odom_2D.h"
-#include "serialization_processor_params_base.h"
-
-namespace cereal {
-
-template <class Archive>
-void serialize(Archive& ar, wolf::ProcessorParamsOdom2D& o,
- std::uint32_t const /*version*/)
-{
- ar( cereal::make_nvp("ProcessorParamsBase",
- cereal::base_class<wolf::ProcessorParamsBase>(&o)) );
-
- ar( cereal::make_nvp("cov_det_th_", o.cov_det) );
- ar( cereal::make_nvp("dist_traveled_th_", o.dist_traveled_th_) );
- ar( cereal::make_nvp("elapsed_time_th_", o.elapsed_time_th_) );
- ar( cereal::make_nvp("theta_traveled_th_", o.theta_traveled_th_) );
- ar( cereal::make_nvp("unmeasured_perturbation_std_",
- o.unmeasured_perturbation_std) );
-}
-
-} // namespace cereal
-
-CEREAL_REGISTER_TYPE_WITH_NAME(wolf::ProcessorParamsOdom2D, "ProcessorParamsOdom2D")
-
-#endif /* _WOLF_SERIALIZATION_CEREAL_PROCESSOR_ODOM3D_PARAMS_H_ */
diff --git a/serialization/cereal/serialization_processor_odom3d_params.h b/serialization/cereal/serialization_processor_odom3d_params.h
deleted file mode 100644
index d2fd7c077d868e4dafcfa209c10767415f092ab8..0000000000000000000000000000000000000000
--- a/serialization/cereal/serialization_processor_odom3d_params.h
+++ /dev/null
@@ -1,27 +0,0 @@
-#ifndef _WOLF_SERIALIZATION_CEREAL_PROCESSOR_ODOM3D_PARAMS_H_
-#define _WOLF_SERIALIZATION_CEREAL_PROCESSOR_ODOM3D_PARAMS_H_
-
-// Wolf includes
-#include "core/processor/processor_odom_3D.h"
-#include "serialization_processor_params_base.h"
-
-namespace cereal {
-
-template <class Archive>
-void serialize(Archive& ar, wolf::ProcessorParamsOdom3D& o,
- std::uint32_t const /*version*/)
-{
- ar( cereal::make_nvp("ProcessorParamsBase",
- cereal::base_class<wolf::ProcessorParamsBase>(&o)) );
-
- ar( cereal::make_nvp("angle_turned", o.angle_turned) );
- ar( cereal::make_nvp("dist_traveled", o.dist_traveled) );
- ar( cereal::make_nvp("max_buff_length", o.max_buff_length) );
- ar( cereal::make_nvp("max_time_span", o.max_time_span) );
-}
-
-} // namespace cereal
-
-CEREAL_REGISTER_TYPE_WITH_NAME(wolf::ProcessorParamsOdom3D, "ProcessorOdom3DParams")
-
-#endif /* _WOLF_SERIALIZATION_CEREAL_PROCESSOR_ODOM3D_PARAMS_H_ */
diff --git a/serialization/cereal/serialization_processor_params_base.h b/serialization/cereal/serialization_processor_params_base.h
deleted file mode 100644
index 03ea158c07ea0c18516400a6c51618998efb9473..0000000000000000000000000000000000000000
--- a/serialization/cereal/serialization_processor_params_base.h
+++ /dev/null
@@ -1,22 +0,0 @@
-#ifndef _WOLF_SERIALIZATION_CEREAL_PROCESSOR_PARAM_BASE_H_
-#define _WOLF_SERIALIZATION_CEREAL_PROCESSOR_PARAM_BASE_H_
-
-// Wolf includes
-#include "core/processor/processor_base.h"
-
-#include <cereal/cereal.hpp>
-#include <cereal/types/polymorphic.hpp>
-
-namespace cereal {
-
-template <class Archive>
-void serialize(Archive& ar, wolf::ProcessorParamsBase& o,
- std::uint32_t const /*version*/)
-{
- ar( cereal::make_nvp("type", o.type) );
- ar( cereal::make_nvp("name", o.name) );
-}
-
-} // namespace cereal
-
-#endif /* _WOLF_SERIALIZATION_CEREAL_SENSOR_INTRINSIC_BASE_H_ */
diff --git a/serialization/cereal/serialization_sensor_intrinsic_base.h b/serialization/cereal/serialization_sensor_intrinsic_base.h
deleted file mode 100644
index 86b2a9b482eb61dd290dd2d2723c41415ca11dae..0000000000000000000000000000000000000000
--- a/serialization/cereal/serialization_sensor_intrinsic_base.h
+++ /dev/null
@@ -1,25 +0,0 @@
-#ifndef _WOLF_SERIALIZATION_CEREAL_SENSOR_INTRINSIC_BASE_H_
-#define _WOLF_SERIALIZATION_CEREAL_SENSOR_INTRINSIC_BASE_H_
-
-// Wolf includes
-#include "core/sensor/sensor_base.h"
-
-#include <cereal/cereal.hpp>
-#include <cereal/types/polymorphic.hpp>
-
-namespace cereal {
-
-template <class Archive>
-void serialize(Archive& ar, wolf::IntrinsicsBase& o,
- std::uint32_t const /*version*/)
-{
- ar( cereal::make_nvp("type", o.type) );
- ar( cereal::make_nvp("name", o.name) );
-}
-
-} // namespace cereal
-
-// No need to register base
-//CEREAL_REGISTER_TYPE_WITH_NAME(wolf::IntrinsicsBase, "IntrinsicsBase");
-
-#endif /* _WOLF_SERIALIZATION_CEREAL_SENSOR_INTRINSIC_BASE_H_ */
diff --git a/serialization/cereal/serialization_sensor_odom2d_intrinsic.h b/serialization/cereal/serialization_sensor_odom2d_intrinsic.h
deleted file mode 100644
index 17d4160b3751d0a13f0f28836234b500e6674400..0000000000000000000000000000000000000000
--- a/serialization/cereal/serialization_sensor_odom2d_intrinsic.h
+++ /dev/null
@@ -1,26 +0,0 @@
-#ifndef _WOLF_SERIALIZATION_CEREAL_SENSOR_ODOM2D_INTRINSIC_H_
-#define _WOLF_SERIALIZATION_CEREAL_SENSOR_ODOM2D_INTRINSIC_H_
-
-// Wolf includes
-#include "core/sensor/sensor_odom_2D.h"
-
-#include "serialization_sensor_intrinsic_base.h"
-
-namespace cereal {
-
-template <class Archive>
-void serialize(Archive& ar, wolf::IntrinsicsOdom2D& o,
- std::uint32_t const /*version*/)
-{
- ar( cereal::make_nvp("IntrinsicsBase",
- cereal::base_class<wolf::IntrinsicsBase>(&o)) );
-
- ar( cereal::make_nvp("k_disp_to_disp", o.k_disp_to_disp) );
- ar( cereal::make_nvp("k_rot_to_rot", o.k_rot_to_rot) );
-}
-
-} // namespace cereal
-
-CEREAL_REGISTER_TYPE_WITH_NAME(wolf::IntrinsicsOdom2D, "IntrinsicsOdom2D")
-
-#endif /* _WOLF_SERIALIZATION_CEREAL_SENSOR_ODOM2D_INTRINSIC_H_ */
diff --git a/serialization/cereal/serialization_time_stamp.h b/serialization/cereal/serialization_time_stamp.h
deleted file mode 100644
index f0c978d36415be7598f2ba6eb5b83bd9a5cb0a61..0000000000000000000000000000000000000000
--- a/serialization/cereal/serialization_time_stamp.h
+++ /dev/null
@@ -1,31 +0,0 @@
-#ifndef _WOLF_IO_CEREAL_TIME_STAMP_H_
-#define _WOLF_IO_CEREAL_TIME_STAMP_H_
-
-// Wolf includes
-#include "core/time_stamp.h"
-
-#include <cereal/cereal.hpp>
-
-namespace cereal {
-
-/// @note serialization versionning raise
-/// a compile error here...
-template <class Archive>
-void save(Archive& ar, const wolf::TimeStamp& o/*, std::uint32_t const version*/)
-{
- ar( cereal::make_nvp("value", o.get()) );
-}
-
-template <class Archive>
-void load(Archive& ar, wolf::TimeStamp& o/*, std::uint32_t const version*/)
-{
- auto val = o.get();
-
- ar( cereal::make_nvp("value", val) );
-
- o.set(val);
-}
-
-} // namespace cereal
-
-#endif /* _WOLF_IO_CEREAL_TIME_STAMP_H_ */