| Directory: | ./ |
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| File: | src/affine-function.cc |
| Date: | 2025-05-05 12:19:30 |
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| Lines: | 6 | 12 | 50.0% |
| Branches: | 2 | 12 | 16.7% |
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| 1 | // Copyright (c) 2020, Joseph Mirabel | ||
| 2 | // Authors: Joseph Mirabel (joseph.mirabel@laas.fr) | ||
| 3 | // | ||
| 4 | |||
| 5 | // Redistribution and use in source and binary forms, with or without | ||
| 6 | // modification, are permitted provided that the following conditions are | ||
| 7 | // met: | ||
| 8 | // | ||
| 9 | // 1. Redistributions of source code must retain the above copyright | ||
| 10 | // notice, this list of conditions and the following disclaimer. | ||
| 11 | // | ||
| 12 | // 2. Redistributions in binary form must reproduce the above copyright | ||
| 13 | // notice, this list of conditions and the following disclaimer in the | ||
| 14 | // documentation and/or other materials provided with the distribution. | ||
| 15 | // | ||
| 16 | // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS | ||
| 17 | // "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT | ||
| 18 | // LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR | ||
| 19 | // A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT | ||
| 20 | // HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, | ||
| 21 | // SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT | ||
| 22 | // LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, | ||
| 23 | // DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY | ||
| 24 | // THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT | ||
| 25 | // (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE | ||
| 26 | // OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH | ||
| 27 | // DAMAGE. | ||
| 28 | |||
| 29 | #include <hpp/constraints/affine-function.hh> | ||
| 30 | #include <hpp/pinocchio/liegroup-element.hh> | ||
| 31 | #include <hpp/util/serialization.hh> | ||
| 32 | #include <pinocchio/serialization/eigen.hpp> | ||
| 33 | |||
| 34 | namespace hpp { | ||
| 35 | namespace constraints { | ||
| 36 | using namespace boost::serialization; | ||
| 37 | |||
| 38 | template <class Archive> | ||
| 39 | ✗ | void Identity::serialize(Archive& ar, const unsigned int version) { | |
| 40 | (void)version; | ||
| 41 | ✗ | ar& make_nvp("base", base_object<DifferentiableFunction>(*this)); | |
| 42 | } | ||
| 43 | |||
| 44 | HPP_SERIALIZATION_IMPLEMENT(Identity); | ||
| 45 | |||
| 46 | template <class Archive> | ||
| 47 | ✗ | void AffineFunction::serialize(Archive& ar, const unsigned int version) { | |
| 48 | (void)version; | ||
| 49 | ✗ | ar& make_nvp("base", base_object<DifferentiableFunction>(*this)); | |
| 50 | ✗ | ar& make_nvp("J_", const_cast<matrix_t&>(J_)); | |
| 51 | ✗ | ar& make_nvp("b_", const_cast<vector_t&>(b_)); | |
| 52 | } | ||
| 53 | |||
| 54 | HPP_SERIALIZATION_IMPLEMENT(AffineFunction); | ||
| 55 | |||
| 56 | template <class Archive> | ||
| 57 | 4 | void ConstantFunction::serialize(Archive& ar, const unsigned int version) { | |
| 58 | (void)version; | ||
| 59 |
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4 | ar& make_nvp("base", base_object<DifferentiableFunction>(*this)); |
| 60 |
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4 | ar& make_nvp("c_", const_cast<LiegroupElement&>(c_)); |
| 61 | } | ||
| 62 | |||
| 63 | HPP_SERIALIZATION_IMPLEMENT(ConstantFunction); | ||
| 64 | |||
| 65 | } // namespace constraints | ||
| 66 | } // namespace hpp | ||
| 67 | |||
| 68 | 12 | BOOST_CLASS_EXPORT(hpp::constraints::Identity) | |
| 69 | 12 | BOOST_CLASS_EXPORT(hpp::constraints::AffineFunction) | |
| 70 | 12 | BOOST_CLASS_EXPORT(hpp::constraints::ConstantFunction) | |
| 71 |