Directory: | ./ |
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File: | src/serialization.cc |
Date: | 2024-08-10 11:29:48 |
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1 | // | ||
2 | // Copyright (c) 2020 CNRS | ||
3 | // Authors: Joseph Mirabel | ||
4 | // | ||
5 | |||
6 | // Redistribution and use in source and binary forms, with or without | ||
7 | // modification, are permitted provided that the following conditions are | ||
8 | // met: | ||
9 | // | ||
10 | // 1. Redistributions of source code must retain the above copyright | ||
11 | // notice, this list of conditions and the following disclaimer. | ||
12 | // | ||
13 | // 2. Redistributions in binary form must reproduce the above copyright | ||
14 | // notice, this list of conditions and the following disclaimer in the | ||
15 | // documentation and/or other materials provided with the distribution. | ||
16 | // | ||
17 | // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS | ||
18 | // "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT | ||
19 | // LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR | ||
20 | // A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT | ||
21 | // HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, | ||
22 | // SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT | ||
23 | // LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, | ||
24 | // DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY | ||
25 | // THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT | ||
26 | // (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE | ||
27 | // OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH | ||
28 | // DAMAGE. | ||
29 | |||
30 | #include <boost/serialization/version.hpp> | ||
31 | #if BOOST_VERSION / 100 % 1000 == 74 | ||
32 | #include <boost/serialization/library_version_type.hpp> | ||
33 | #endif | ||
34 | // ref https://github.com/boostorg/serialization/issues/219 | ||
35 | |||
36 | #include <boost/serialization/list.hpp> | ||
37 | #include <boost/serialization/serialization.hpp> | ||
38 | #include <boost/serialization/set.hpp> | ||
39 | #include <boost/serialization/weak_ptr.hpp> | ||
40 | #include <hpp/core/connected-component.hh> | ||
41 | #include <hpp/core/distance.hh> | ||
42 | #include <hpp/core/edge.hh> | ||
43 | #include <hpp/core/nearest-neighbor.hh> | ||
44 | #include <hpp/core/node.hh> | ||
45 | #include <hpp/core/path.hh> | ||
46 | #include <hpp/core/roadmap.hh> | ||
47 | #include <hpp/pinocchio/serialization.hh> | ||
48 | #include <hpp/util/serialization.hh> | ||
49 | #include <pinocchio/serialization/eigen.hpp> | ||
50 | |||
51 | namespace hpp { | ||
52 | namespace core { | ||
53 | |||
54 | template <typename Archive> | ||
55 | 72 | inline void Node::serialize(Archive& ar, const unsigned int version) { | |
56 | (void)version; | ||
57 | 72 | Configuration_t& config(configuration_); | |
58 | 72 | serialization::remove_duplicate::serialize_vector(ar, "config", config, | |
59 | version); | ||
60 |
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72 | ar& BOOST_SERIALIZATION_NVP(outEdges_); |
61 |
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72 | ar& BOOST_SERIALIZATION_NVP(inEdges_); |
62 |
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72 | ar& BOOST_SERIALIZATION_NVP(connectedComponent_); |
63 | 72 | } | |
64 | HPP_SERIALIZATION_IMPLEMENT(Node); | ||
65 | |||
66 | template <typename Archive> | ||
67 | 60 | inline void Edge::serialize(Archive& ar, const unsigned int version) { | |
68 | (void)version; | ||
69 |
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60 | ar& BOOST_SERIALIZATION_NVP(n1_); |
70 |
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60 | ar& BOOST_SERIALIZATION_NVP(n2_); |
71 |
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60 | ar& BOOST_SERIALIZATION_NVP(path_); |
72 | 60 | } | |
73 | HPP_SERIALIZATION_IMPLEMENT(Edge); | ||
74 | |||
75 | template <typename Archive> | ||
76 | 48 | inline void ConnectedComponent::serialize(Archive& ar, | |
77 | const unsigned int version) { | ||
78 | (void)version; | ||
79 |
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48 | ar& BOOST_SERIALIZATION_NVP(nodes_); |
80 |
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48 | ar& BOOST_SERIALIZATION_NVP(reachableFrom_); |
81 |
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48 | ar& BOOST_SERIALIZATION_NVP(reachableTo_); |
82 |
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48 | ar& BOOST_SERIALIZATION_NVP(weak_); |
83 | 48 | } | |
84 | HPP_SERIALIZATION_IMPLEMENT(ConnectedComponent); | ||
85 | |||
86 | template <typename Archive> | ||
87 | 12 | inline void Roadmap::serialize(Archive& ar, const unsigned int version) { | |
88 | (void)version; | ||
89 |
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12 | ar& boost::serialization::make_nvp("distance_", |
90 | 12 | const_cast<DistancePtr_t&>(distance_)); | |
91 |
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12 | ar& BOOST_SERIALIZATION_NVP(connectedComponents_); |
92 |
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12 | ar& BOOST_SERIALIZATION_NVP(nodes_); |
93 |
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12 | ar& BOOST_SERIALIZATION_NVP(edges_); |
94 |
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12 | ar& BOOST_SERIALIZATION_NVP(initNode_); |
95 |
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12 | ar& BOOST_SERIALIZATION_NVP(goalNodes_); |
96 |
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12 | ar& BOOST_SERIALIZATION_NVP(nearestNeighbor_); |
97 |
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12 | ar& BOOST_SERIALIZATION_NVP(weak_); |
98 | 12 | } | |
99 | HPP_SERIALIZATION_IMPLEMENT(Roadmap); | ||
100 | |||
101 | } // namespace core | ||
102 | } // namespace hpp | ||
103 |