| Directory: | ./ |
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| File: | src/distance/serialization.cc |
| Date: | 2024-08-10 11:29:48 |
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| Lines: | 11 | 23 | 47.8% |
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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/weak_ptr.hpp> | ||
| 31 | #include <hpp/core/distance.hh> | ||
| 32 | #include <hpp/core/distance/reeds-shepp.hh> | ||
| 33 | #include <hpp/core/weighed-distance.hh> | ||
| 34 | #include <hpp/pinocchio/device.hh> | ||
| 35 | #include <hpp/pinocchio/joint.hh> | ||
| 36 | #include <hpp/pinocchio/serialization.hh> // For serialization of Device | ||
| 37 | #include <hpp/util/serialization.hh> | ||
| 38 | #include <pinocchio/serialization/eigen.hpp> | ||
| 39 | |||
| 40 | 18 | BOOST_CLASS_EXPORT(hpp::core::WeighedDistance) | |
| 41 | 18 | BOOST_CLASS_EXPORT(hpp::core::distance::ReedsShepp) | |
| 42 | |||
| 43 | namespace hpp { | ||
| 44 | namespace core { | ||
| 45 | |||
| 46 | template <typename Archive> | ||
| 47 | 12 | inline void Distance::serialize(Archive& ar, const unsigned int version) { | |
| 48 | (void)version; | ||
| 49 | (void)ar; | ||
| 50 | 12 | } | |
| 51 | |||
| 52 | template <typename Archive> | ||
| 53 | 12 | inline void WeighedDistance::serialize(Archive& ar, | |
| 54 | const unsigned int version) { | ||
| 55 | (void)version; | ||
| 56 |
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12 | ar& boost::serialization::make_nvp( |
| 57 | 12 | "base", boost::serialization::base_object<Distance>(*this)); | |
| 58 |
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12 | ar& BOOST_SERIALIZATION_NVP(robot_); |
| 59 |
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12 | ar& BOOST_SERIALIZATION_NVP(weights_); |
| 60 |
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12 | ar& BOOST_SERIALIZATION_NVP(weak_); |
| 61 | 12 | } | |
| 62 | |||
| 63 | HPP_SERIALIZATION_IMPLEMENT(WeighedDistance); | ||
| 64 | |||
| 65 | namespace distance { | ||
| 66 | |||
| 67 | template <typename Archive> | ||
| 68 | ✗ | inline void ReedsShepp::serialize(Archive& ar, const unsigned int version) { | |
| 69 | (void)version; | ||
| 70 | ✗ | ar& boost::serialization::make_nvp( | |
| 71 | ✗ | "base", boost::serialization::base_object<Distance>(*this)); | |
| 72 | ✗ | ar& BOOST_SERIALIZATION_NVP(weighedDistance_); | |
| 73 | ✗ | ar& BOOST_SERIALIZATION_NVP(device_); | |
| 74 | ✗ | ar& BOOST_SERIALIZATION_NVP(rho_); | |
| 75 | ✗ | ar& BOOST_SERIALIZATION_NVP(xy_); | |
| 76 | ✗ | ar& BOOST_SERIALIZATION_NVP(rz_); | |
| 77 | ✗ | ar& BOOST_SERIALIZATION_NVP(xyId_); | |
| 78 | ✗ | ar& BOOST_SERIALIZATION_NVP(rzId_); | |
| 79 | ✗ | ar& BOOST_SERIALIZATION_NVP(wheels_); | |
| 80 | ✗ | ar& BOOST_SERIALIZATION_NVP(weak_); | |
| 81 | } | ||
| 82 | |||
| 83 | HPP_SERIALIZATION_IMPLEMENT(ReedsShepp); | ||
| 84 | |||
| 85 | } // namespace distance | ||
| 86 | |||
| 87 | } // namespace core | ||
| 88 | } // namespace hpp | ||
| 89 |