GCC Code Coverage Report

Directory: ./
File: include/coal/serialization/eigen.h
Date: 2025-04-01 09:23:31
Exec Total Coverage
Lines: 31 31 100.0%
Branches: 21 40 52.5%
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1 //
2 // Copyright (c) 2017-2021 CNRS INRIA
3 //
4
5 /*
6 Code adapted from Pinocchio and
7 https://gist.githubusercontent.com/mtao/5798888/raw/5be9fa9b66336c166dba3a92c0e5b69ffdb81501/eigen_boost_serialization.hpp
8 Copyright (c) 2015 Michael Tao
9 */
10
11 #ifndef COAL_SERIALIZATION_EIGEN_H
12 #define COAL_SERIALIZATION_EIGEN_H
13
14 #ifdef COAL_BACKWARD_COMPATIBILITY_WITH_HPP_FCL
15 #ifdef HPP_FCL_SKIP_EIGEN_BOOST_SERIALIZATION
16 #define COAL_SKIP_EIGEN_BOOST_SERIALIZATION
17 #endif
18 #endif
19
20 #ifndef COAL_SKIP_EIGEN_BOOST_SERIALIZATION
21
22 #include <Eigen/Dense>
23
24 #include <boost/serialization/split_free.hpp>
25 #include <boost/serialization/vector.hpp>
26 #include <boost/serialization/array.hpp>
27
28 // Workaround a bug in GCC >= 7 and C++17
29 // ref. https://gitlab.com/libeigen/eigen/-/issues/1676
30 #ifdef __GNUC__
31 #if __GNUC__ >= 7 && __cplusplus >= 201703L
32 namespace boost {
33 namespace serialization {
34 struct U;
35 }
36 } // namespace boost
37 namespace Eigen {
38 namespace internal {
39 template <>
40 struct traits<boost::serialization::U> {
41 enum { Flags = 0 };
42 };
43 } // namespace internal
44 } // namespace Eigen
45 #endif
46 #endif
47
48 namespace boost {
49 namespace serialization {
50
51 template <class Archive, typename S, int Rows, int Cols, int Options,
52 int MaxRows, int MaxCols>
53 3665030 void save(Archive& ar,
54 const Eigen::Matrix<S, Rows, Cols, Options, MaxRows, MaxCols>& m,
55 const unsigned int /*version*/) {
56 3665030 Eigen::DenseIndex rows(m.rows()), cols(m.cols());
57
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 54 if (Rows == Eigen::Dynamic) ar& BOOST_SERIALIZATION_NVP(rows);
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 18 if (Cols == Eigen::Dynamic) ar& BOOST_SERIALIZATION_NVP(cols);
59
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 3665030 ar& make_nvp("data", make_array(m.data(), (size_t)m.size()));
60 3665030 }
61
62 template <class Archive, typename S, int Rows, int Cols, int Options,
63 int MaxRows, int MaxCols>
64 3665030 void load(Archive& ar,
65 Eigen::Matrix<S, Rows, Cols, Options, MaxRows, MaxCols>& m,
66 const unsigned int /*version*/) {
67 3665030 Eigen::DenseIndex rows = Rows, cols = Cols;
68
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 54 if (Rows == Eigen::Dynamic) ar >> BOOST_SERIALIZATION_NVP(rows);
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 18 if (Cols == Eigen::Dynamic) ar >> BOOST_SERIALIZATION_NVP(cols);
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 3665030 m.resize(rows, cols);
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 3665030 ar >> make_nvp("data", make_array(m.data(), (size_t)m.size()));
72 3665030 }
73
74 template <class Archive, typename S, int Rows, int Cols, int Options,
75 int MaxRows, int MaxCols>
76 7330060 void serialize(Archive& ar,
77 Eigen::Matrix<S, Rows, Cols, Options, MaxRows, MaxCols>& m,
78 const unsigned int version) {
79 7330060 split_free(ar, m, version);
80 7330060 }
81
82 template <class Archive, typename PlainObjectBase, int MapOptions,
83 typename StrideType>
84 30 void save(Archive& ar,
85 const Eigen::Map<PlainObjectBase, MapOptions, StrideType>& m,
86 const unsigned int /*version*/) {
87 30 Eigen::DenseIndex rows(m.rows()), cols(m.cols());
88 if (PlainObjectBase::RowsAtCompileTime == Eigen::Dynamic)
89 ar& BOOST_SERIALIZATION_NVP(rows);
90 if (PlainObjectBase::ColsAtCompileTime == Eigen::Dynamic)
91
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 30 ar& BOOST_SERIALIZATION_NVP(cols);
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 30 ar& make_nvp("data", make_array(m.data(), (size_t)m.size()));
93 30 }
94
95 template <class Archive, typename PlainObjectBase, int MapOptions,
96 typename StrideType>
97 30 void load(Archive& ar, Eigen::Map<PlainObjectBase, MapOptions, StrideType>& m,
98 const unsigned int /*version*/) {
99 30 Eigen::DenseIndex rows = PlainObjectBase::RowsAtCompileTime,
100 30 cols = PlainObjectBase::ColsAtCompileTime;
101 if (PlainObjectBase::RowsAtCompileTime == Eigen::Dynamic)
102 ar >> BOOST_SERIALIZATION_NVP(rows);
103 if (PlainObjectBase::ColsAtCompileTime == Eigen::Dynamic)
104
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 30 ar >> BOOST_SERIALIZATION_NVP(cols);
105 30 m.resize(rows, cols);
106
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 30 ar >> make_nvp("data", make_array(m.data(), (size_t)m.size()));
107 30 }
108
109 template <class Archive, typename PlainObjectBase, int MapOptions,
110 typename StrideType>
111 60 void serialize(Archive& ar,
112 Eigen::Map<PlainObjectBase, MapOptions, StrideType>& m,
113 const unsigned int version) {
114 60 split_free(ar, m, version);
115 60 }
116
117 } // namespace serialization
118 } // namespace boost
119 //
120 #endif // ifned COAL_SKIP_EIGEN_BOOST_SERIALIZATION
121
122 #endif // ifndef COAL_SERIALIZATION_EIGEN_H
123