| Directory: | ./ |
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| File: | src/serialization.cc |
| Date: | 2024-12-13 16:14:03 |
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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_); |
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48 | ar& BOOST_SERIALIZATION_NVP(reachableFrom_); |
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48 | ar& BOOST_SERIALIZATION_NVP(reachableTo_); |
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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_); |
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12 | ar& BOOST_SERIALIZATION_NVP(edges_); |
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12 | ar& BOOST_SERIALIZATION_NVP(initNode_); |
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12 | ar& BOOST_SERIALIZATION_NVP(goalNodes_); |
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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 |