GCC Code Coverage Report

Directory: ./
File: include/coal/serialization/collision_object.h
Date: 2025-04-01 09:23:31
Exec Total Coverage
Lines: 18 18 100.0%
Branches: 12 24 50.0%
Line Branch Exec Source
1 //
2 // Copyright (c) 2021 INRIA
3 //
4
5 #ifndef COAL_SERIALIZATION_COLLISION_OBJECT_H
6 #define COAL_SERIALIZATION_COLLISION_OBJECT_H
7
8 #include "coal/collision_object.h"
9
10 #include "coal/serialization/fwd.h"
11 #include "coal/serialization/AABB.h"
12
13 namespace boost {
14 namespace serialization {
15
16 template <class Archive>
17 194 void save(Archive& ar, const coal::CollisionGeometry& collision_geometry,
18 const unsigned int /*version*/) {
19
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 194 ar& make_nvp("aabb_center", collision_geometry.aabb_center);
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 194 ar& make_nvp("aabb_radius", collision_geometry.aabb_radius);
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 194 ar& make_nvp("aabb_local", collision_geometry.aabb_local);
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 194 ar& make_nvp("cost_density", collision_geometry.cost_density);
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 194 ar& make_nvp("threshold_occupied", collision_geometry.threshold_occupied);
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 194 ar& make_nvp("threshold_free", collision_geometry.threshold_free);
25 194 }
26
27 template <class Archive>
28 194 void load(Archive& ar, coal::CollisionGeometry& collision_geometry,
29 const unsigned int /*version*/) {
30
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 194 ar >> make_nvp("aabb_center", collision_geometry.aabb_center);
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 194 ar >> make_nvp("aabb_radius", collision_geometry.aabb_radius);
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 194 ar >> make_nvp("aabb_local", collision_geometry.aabb_local);
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 194 ar >> make_nvp("cost_density", collision_geometry.cost_density);
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 194 ar >> make_nvp("threshold_occupied", collision_geometry.threshold_occupied);
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 194 ar >> make_nvp("threshold_free", collision_geometry.threshold_free);
36 194 collision_geometry.user_data = NULL; // no way to recover this
37 194 }
38
39 388 COAL_SERIALIZATION_SPLIT(coal::CollisionGeometry)
40
41 } // namespace serialization
42 } // namespace boost
43
44 namespace coal {
45
46 // fwd declaration
47 template <typename BV>
48 class HeightField;
49
50 template <typename PolygonT>
51 class Convex;
52
53 struct OBB;
54 struct OBBRSS;
55 class AABB;
56
57 class OcTree;
58 class Box;
59 class Sphere;
60 class Ellipsoid;
61 class Capsule;
62 class Cone;
63 class TriangleP;
64 class Cylinder;
65 class Halfspace;
66 class Plane;
67
68 namespace serialization {
69 template <>
70 struct register_type<CollisionGeometry> {
71 template <class Archive>
72 static void on(Archive& ar) {
73 ar.template register_type<Box>();
74 ar.template register_type<Sphere>();
75 ar.template register_type<Ellipsoid>();
76 ar.template register_type<TriangleP>();
77 ar.template register_type<Capsule>();
78 ar.template register_type<Cone>();
79 ar.template register_type<Cylinder>();
80 ar.template register_type<Halfspace>();
81 ar.template register_type<Plane>();
82 ar.template register_type<OcTree>();
83 ar.template register_type<HeightField<OBB>>();
84 ar.template register_type<HeightField<OBBRSS>>();
85 ar.template register_type<HeightField<AABB>>();
86 ar.template register_type<Convex<Triangle>>();
87 ;
88 }
89 };
90 } // namespace serialization
91 } // namespace coal
92
93 #endif // ifndef COAL_SERIALIZATION_COLLISION_OBJECT_H
94