| Directory: | ./ |
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| File: | include/hpp/core/parser/roadmap.hh |
| Date: | 2024-08-10 11:29:48 |
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| 1 | // Copyright (c) 2020 CNRS | ||
| 2 | // Authors: Joseph Mirabel | ||
| 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 | #ifndef HPP_CORE_PARSER_ROADMAP_HH | ||
| 30 | #define HPP_CORE_PARSER_ROADMAP_HH | ||
| 31 | |||
| 32 | #include <fstream> | ||
| 33 | #include <hpp/core/roadmap.hh> | ||
| 34 | #include <hpp/pinocchio/serialization.hh> | ||
| 35 | |||
| 36 | namespace hpp { | ||
| 37 | namespace core { | ||
| 38 | namespace parser { | ||
| 39 | namespace internal { | ||
| 40 | |||
| 41 | template <typename Parent, typename Child> | ||
| 42 | struct InsertChildClass : std::pair<std::string, Child*> { | ||
| 43 | using std::pair<std::string, Child>::pair; | ||
| 44 | }; | ||
| 45 | |||
| 46 | template <class Archive, class A> | ||
| 47 | 12 | inline void insert(Archive& ar, const std::pair<std::string, A*>& a) { | |
| 48 | 12 | ar.insert(a.first, a.second); | |
| 49 | 12 | } | |
| 50 | |||
| 51 | template <class Archive, class Parent, class Child> | ||
| 52 | inline void insert(Archive& ar, const InsertChildClass<Parent, Child>& a) { | ||
| 53 | ar.template insertChildClass<Parent, Child>(a.first, a.second); | ||
| 54 | } | ||
| 55 | |||
| 56 | template <class Archive> | ||
| 57 | 12 | inline void inserts(Archive&) {} | |
| 58 | template <class Archive, class A, class... B> | ||
| 59 | 12 | inline void inserts(Archive& ar, A& a, B&... b) { | |
| 60 | 12 | insert(ar, a); | |
| 61 | 12 | inserts(ar, b...); | |
| 62 | 12 | } | |
| 63 | } // namespace internal | ||
| 64 | |||
| 65 | /// \addtogroup roadmap | ||
| 66 | /// \{ | ||
| 67 | /// \tparam Archive an archive from | ||
| 68 | /// hpp::serialization::(xml|binary|text)_(i|o)archive. | ||
| 69 | /// The only requirement is that it derives from | ||
| 70 | /// hpp::serialization::archive_ptr_holder. | ||
| 71 | /// \tparam Args a list of std::pair<std::string, Object*> or InsertChildClass | ||
| 72 | /// \param roadmap the roadmap to save or fill. | ||
| 73 | /// \param filename the file to read or write. | ||
| 74 | /// \param args indicate the name and object pointer to insert in the archive | ||
| 75 | /// pointer holder. | ||
| 76 | template <class A> | ||
| 77 | 6 | std::pair<std::string, A*> make_nvp(const std::string& n, A* a) { | |
| 78 | 6 | return std::pair<std::string, A*>(n, a); | |
| 79 | } | ||
| 80 | template <class Parent, class Child> | ||
| 81 | internal::InsertChildClass<Parent, Child> make_nvp_with_parent( | ||
| 82 | const std::string& n, Child* a) { | ||
| 83 | return internal::InsertChildClass<Parent, Child>(n, a); | ||
| 84 | } | ||
| 85 | |||
| 86 | template <class Archive, class... Args> | ||
| 87 | 12 | void serializeRoadmap(RoadmapPtr_t& roadmap, const std::string& filename, | |
| 88 | Args... args) { | ||
| 89 | typename std::conditional<Archive::is_saving::value, std::ofstream, | ||
| 90 |
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12 | std::ifstream>::type fs(filename); |
| 91 |
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12 | Archive ar(fs); |
| 92 |
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12 | internal::inserts(ar, args...); |
| 93 |
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12 | ar.initialize(); |
| 94 |
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12 | ar& hpp::serialization::make_nvp("roadmap", roadmap); |
| 95 | 12 | } | |
| 96 | /// \} | ||
| 97 | } // namespace parser | ||
| 98 | } // namespace core | ||
| 99 | } // namespace hpp | ||
| 100 | #endif // HPP_CORE_PARSER_ROADMAP_HH | ||
| 101 |