roadmap.hh

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// Copyright (c) 2020 CNRS
// Authors: Joseph Mirabel
//
 
// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions are
// met:
//
// 1. Redistributions of source code must retain the above copyright
//    notice, this list of conditions and the following disclaimer.
//
// 2. Redistributions in binary form must reproduce the above copyright
// notice, this list of conditions and the following disclaimer in the
// documentation and/or other materials provided with the distribution.
//
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
// "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
// LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
// A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
// HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
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// LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
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// DAMAGE.
 
#ifndef HPP_CORE_PARSER_ROADMAP_HH
#define HPP_CORE_PARSER_ROADMAP_HH
 
#include <fstream>
#include <hpp/core/roadmap.hh>
#include <hpp/pinocchio/serialization.hh>
 
namespace hpp {
namespace core {
namespace parser {
namespace internal {
 
template <typename Parent, typename Child>
struct InsertChildClass : std::pair<std::string, Child*> {
  using std::pair<std::string, Child>::pair;
};
 
template <class Archive, class A>
inline void insert(Archive& ar, const std::pair<std::string, A*>& a) {
  ar.insert(a.first, a.second);
}
 
template <class Archive, class Parent, class Child>
inline void insert(Archive& ar, const InsertChildClass<Parent, Child>& a) {
  ar.template insertChildClass<Parent, Child>(a.first, a.second);
}
 
template <class Archive>
inline void inserts(Archive&) {}
template <class Archive, class A, class... B>
inline void inserts(Archive& ar, A& a, B&... b) {
  insert(ar, a);
  inserts(ar, b...);
}
}  // namespace internal
 
template <class A>
std::pair<std::string, A*> make_nvp(const std::string& n, A* a) {
  return std::pair<std::string, A*>(n, a);
}
template <class Parent, class Child>
internal::InsertChildClass<Parent, Child> make_nvp_with_parent(
    const std::string& n, Child* a) {
  return internal::InsertChildClass<Parent, Child>(n, a);
}
 
template <class Archive, class... Args>
void serializeRoadmap(RoadmapPtr_t& roadmap, const std::string& filename,
                      Args... args) {
  typename std::conditional<Archive::is_saving::value, std::ofstream,
                            std::ifstream>::type fs(filename);
  Archive ar(fs);
  internal::inserts(ar, args...);
  ar.initialize();
  ar& hpp::serialization::make_nvp("roadmap", roadmap);
}
}  // namespace parser
}  // namespace core
}  // namespace hpp
#endif  // HPP_CORE_PARSER_ROADMAP_HH