GCC Code Coverage Report

Directory: ./
File: include/coal/serialization/hfield.h
Date: 2025-04-01 09:23:31
Exec Total Coverage
Lines: 31 31 100.0%
Branches: 19 38 50.0%
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1 //
2 // Copyright (c) 2021-2024 INRIA
3 //
4
5 #ifndef COAL_SERIALIZATION_HFIELD_H
6 #define COAL_SERIALIZATION_HFIELD_H
7
8 #include "coal/hfield.h"
9
10 #include "coal/serialization/fwd.h"
11 #include "coal/serialization/OBBRSS.h"
12
13 namespace boost {
14 namespace serialization {
15
16 template <class Archive>
17 1418436 void serialize(Archive &ar, coal::HFNodeBase &node,
18 const unsigned int /*version*/) {
19
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 1418436 ar &make_nvp("first_child", node.first_child);
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 1418436 ar &make_nvp("x_id", node.x_id);
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 1418436 ar &make_nvp("x_size", node.x_size);
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 1418436 ar &make_nvp("y_id", node.y_id);
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 1418436 ar &make_nvp("y_size", node.y_size);
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 1418436 ar &make_nvp("max_height", node.max_height);
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 1418436 ar &make_nvp("contact_active_faces", node.contact_active_faces);
26 1418436 }
27
28 template <class Archive, typename BV>
29 1418436 void serialize(Archive &ar, coal::HFNode<BV> &node,
30 const unsigned int /*version*/) {
31
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 1418436 ar &make_nvp("base",
32 1418436 boost::serialization::base_object<coal::HFNodeBase>(node));
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 1418436 ar &make_nvp("bv", node.bv);
34 1418436 }
35
36 namespace internal {
37 template <typename BV>
38 struct HeightFieldAccessor : coal::HeightField<BV> {
39 typedef coal::HeightField<BV> Base;
40 using Base::bvs;
41 using Base::heights;
42 using Base::max_height;
43 using Base::min_height;
44 using Base::num_bvs;
45 using Base::x_dim;
46 using Base::x_grid;
47 using Base::y_dim;
48 using Base::y_grid;
49 };
50 } // namespace internal
51
52 template <class Archive, typename BV>
53 36 void serialize(Archive &ar, coal::HeightField<BV> &hf_model,
54 const unsigned int /*version*/) {
55
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 36 ar &make_nvp(
56 "base",
57 36 boost::serialization::base_object<coal::CollisionGeometry>(hf_model));
58
59 typedef internal::HeightFieldAccessor<BV> Accessor;
60 36 Accessor &access = reinterpret_cast<Accessor &>(hf_model);
61
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 36 ar &make_nvp("x_dim", access.x_dim);
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 36 ar &make_nvp("y_dim", access.y_dim);
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 36 ar &make_nvp("heights", access.heights);
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 36 ar &make_nvp("min_height", access.min_height);
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 36 ar &make_nvp("max_height", access.max_height);
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 36 ar &make_nvp("x_grid", access.x_grid);
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 36 ar &make_nvp("y_grid", access.y_grid);
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 36 ar &make_nvp("bvs", access.bvs);
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 36 ar &make_nvp("num_bvs", access.num_bvs);
72 36 }
73 } // namespace serialization
74 } // namespace boost
75
76 36 COAL_SERIALIZATION_DECLARE_EXPORT(::coal::HeightField<::coal::AABB>)
77 36 COAL_SERIALIZATION_DECLARE_EXPORT(::coal::HeightField<::coal::OBB>)
78 36 COAL_SERIALIZATION_DECLARE_EXPORT(::coal::HeightField<::coal::OBBRSS>)
79
80 #endif // ifndef COAL_SERIALIZATION_HFIELD_H
81