GCC Code Coverage Report

Directory: ./
File: include/coal/serialization/contact_patch.h
Date: 2025-04-13 14:25:19
Exec Total Coverage
Lines: 37 37 100.0%
Branches: 26 48 54.2%
Line Branch Exec Source
1 //
2 // Copyright (c) 2024 INRIA
3 //
4
5 #ifndef COAL_SERIALIZATION_CONTACT_PATCH_H
6 #define COAL_SERIALIZATION_CONTACT_PATCH_H
7
8 #include "coal/collision_data.h"
9 #include "coal/serialization/fwd.h"
10 #include "coal/serialization/transform.h"
11
12 namespace boost {
13 namespace serialization {
14
15 template <class Archive>
16 56 void serialize(Archive& ar, coal::ContactPatch& contact_patch,
17 const unsigned int /*version*/) {
18 using namespace coal;
19 typedef Eigen::Matrix<Scalar, 2, Eigen::Dynamic> PolygonPoints;
20
21 56 size_t patch_size = contact_patch.size();
22
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 56 ar& make_nvp("patch_size", patch_size);
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 56 if (patch_size > 0) {
24 if (Archive::is_loading::value) {
25
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 28 contact_patch.points().resize(patch_size);
26 }
27
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 112 Eigen::Map<PolygonPoints> points_map(
28 56 reinterpret_cast<Scalar*>(contact_patch.points().data()), 2,
29 static_cast<Eigen::Index>(patch_size));
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 56 ar& make_nvp("points", points_map);
31 }
32
33
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 56 ar& make_nvp("penetration_depth", contact_patch.penetration_depth);
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 56 ar& make_nvp("direction", contact_patch.direction);
35
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 56 ar& make_nvp("tf", contact_patch.tf);
36 56 }
37
38 template <class Archive>
39 28 void serialize(Archive& ar, coal::ContactPatchRequest& request,
40 const unsigned int /*version*/) {
41 using namespace coal;
42
43
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 28 ar& make_nvp("max_num_patch", request.max_num_patch);
44
45 28 size_t num_samples_curved_shapes = request.getNumSamplesCurvedShapes();
46 28 Scalar patch_tolerance = request.getPatchTolerance();
47
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 28 ar& make_nvp("num_samples_curved_shapes", num_samples_curved_shapes);
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 28 ar& make_nvp("patch_tolerance", num_samples_curved_shapes);
49
50 if (Archive::is_loading::value) {
51 14 request.setNumSamplesCurvedShapes(num_samples_curved_shapes);
52 14 request.setPatchTolerance(patch_tolerance);
53 }
54 28 }
55
56 template <class Archive>
57 28 void serialize(Archive& ar, coal::ContactPatchResult& result,
58 const unsigned int /*version*/) {
59 using namespace coal;
60
61 28 size_t num_patches = result.numContactPatches();
62
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 28 ar& make_nvp("num_patches", num_patches);
63
64 28 std::vector<ContactPatch> patches;
65
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 28 patches.resize(num_patches);
66 if (Archive::is_loading::value) {
67
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 14 ar& make_nvp("patches", patches);
68
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 14 const ContactPatchRequest request(num_patches);
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 14 result.set(request);
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 28 for (size_t i = 0; i < num_patches; ++i) {
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 14 ContactPatch& patch = result.getUnusedContactPatch();
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 14 patch = patches[i];
74 }
75 } else {
76 14 patches.clear();
77
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 28 for (size_t i = 0; i < num_patches; ++i) {
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 14 patches.emplace_back(result.getContactPatch(i));
79 }
80
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 14 ar& make_nvp("patches", patches);
81 }
82 28 }
83
84 } // namespace serialization
85 } // namespace boost
86
87 #endif // COAL_SERIALIZATION_CONTACT_PATCH_H
88