1 |
|
|
// |
2 |
|
|
// Copyright (c) 2021 INRIA |
3 |
|
|
// |
4 |
|
|
|
5 |
|
|
#ifndef HPP_FCL_SERIALIZATION_GEOMETRIC_SHAPES_H |
6 |
|
|
#define HPP_FCL_SERIALIZATION_GEOMETRIC_SHAPES_H |
7 |
|
|
|
8 |
|
|
#include "hpp/fcl/shape/geometric_shapes.h" |
9 |
|
|
#include "hpp/fcl/serialization/fwd.h" |
10 |
|
|
|
11 |
|
|
namespace boost { |
12 |
|
|
namespace serialization { |
13 |
|
|
|
14 |
|
|
template <class Archive> |
15 |
|
140 |
void serialize(Archive& ar, hpp::fcl::ShapeBase& shape_base, |
16 |
|
|
const unsigned int /*version*/) { |
17 |
✓✗ |
140 |
ar& make_nvp("base", |
18 |
|
|
boost::serialization::base_object<hpp::fcl::CollisionGeometry>( |
19 |
|
140 |
shape_base)); |
20 |
|
140 |
} |
21 |
|
|
|
22 |
|
|
template <class Archive> |
23 |
|
12 |
void serialize(Archive& ar, hpp::fcl::TriangleP& triangle, |
24 |
|
|
const unsigned int /*version*/) { |
25 |
✓✗ |
12 |
ar& make_nvp( |
26 |
|
12 |
"base", boost::serialization::base_object<hpp::fcl::ShapeBase>(triangle)); |
27 |
✓✗ |
12 |
ar& make_nvp("a", triangle.a); |
28 |
✓✗ |
12 |
ar& make_nvp("b", triangle.b); |
29 |
✓✗ |
12 |
ar& make_nvp("c", triangle.c); |
30 |
|
12 |
} |
31 |
|
|
|
32 |
|
|
template <class Archive> |
33 |
|
16 |
void serialize(Archive& ar, hpp::fcl::Box& box, |
34 |
|
|
const unsigned int /*version*/) { |
35 |
✓✗ |
16 |
ar& make_nvp("base", |
36 |
|
16 |
boost::serialization::base_object<hpp::fcl::ShapeBase>(box)); |
37 |
✓✗ |
16 |
ar& make_nvp("halfSide", box.halfSide); |
38 |
|
16 |
} |
39 |
|
|
|
40 |
|
|
template <class Archive> |
41 |
|
16 |
void serialize(Archive& ar, hpp::fcl::Sphere& sphere, |
42 |
|
|
const unsigned int /*version*/) { |
43 |
✓✗ |
16 |
ar& make_nvp("base", |
44 |
|
16 |
boost::serialization::base_object<hpp::fcl::ShapeBase>(sphere)); |
45 |
✓✗ |
16 |
ar& make_nvp("radius", sphere.radius); |
46 |
|
16 |
} |
47 |
|
|
|
48 |
|
|
template <class Archive> |
49 |
|
16 |
void serialize(Archive& ar, hpp::fcl::Ellipsoid& ellipsoid, |
50 |
|
|
const unsigned int /*version*/) { |
51 |
✓✗ |
16 |
ar& make_nvp("base", boost::serialization::base_object<hpp::fcl::ShapeBase>( |
52 |
|
16 |
ellipsoid)); |
53 |
✓✗ |
16 |
ar& make_nvp("radii", ellipsoid.radii); |
54 |
|
16 |
} |
55 |
|
|
|
56 |
|
|
template <class Archive> |
57 |
|
16 |
void serialize(Archive& ar, hpp::fcl::Capsule& capsule, |
58 |
|
|
const unsigned int /*version*/) { |
59 |
✓✗ |
16 |
ar& make_nvp("base", |
60 |
|
16 |
boost::serialization::base_object<hpp::fcl::ShapeBase>(capsule)); |
61 |
✓✗ |
16 |
ar& make_nvp("radius", capsule.radius); |
62 |
✓✗ |
16 |
ar& make_nvp("halfLength", capsule.halfLength); |
63 |
|
16 |
} |
64 |
|
|
|
65 |
|
|
template <class Archive> |
66 |
|
12 |
void serialize(Archive& ar, hpp::fcl::Cone& cone, |
67 |
|
|
const unsigned int /*version*/) { |
68 |
✓✗ |
12 |
ar& make_nvp("base", |
69 |
|
12 |
boost::serialization::base_object<hpp::fcl::ShapeBase>(cone)); |
70 |
✓✗ |
12 |
ar& make_nvp("radius", cone.radius); |
71 |
✓✗ |
12 |
ar& make_nvp("halfLength", cone.halfLength); |
72 |
|
12 |
} |
73 |
|
|
|
74 |
|
|
template <class Archive> |
75 |
|
16 |
void serialize(Archive& ar, hpp::fcl::Cylinder& cylinder, |
76 |
|
|
const unsigned int /*version*/) { |
77 |
✓✗ |
16 |
ar& make_nvp( |
78 |
|
16 |
"base", boost::serialization::base_object<hpp::fcl::ShapeBase>(cylinder)); |
79 |
✓✗ |
16 |
ar& make_nvp("radius", cylinder.radius); |
80 |
✓✗ |
16 |
ar& make_nvp("halfLength", cylinder.halfLength); |
81 |
|
16 |
} |
82 |
|
|
|
83 |
|
|
template <class Archive> |
84 |
|
16 |
void serialize(Archive& ar, hpp::fcl::Halfspace& half_space, |
85 |
|
|
const unsigned int /*version*/) { |
86 |
✓✗ |
16 |
ar& make_nvp("base", boost::serialization::base_object<hpp::fcl::ShapeBase>( |
87 |
|
16 |
half_space)); |
88 |
✓✗ |
16 |
ar& make_nvp("n", half_space.n); |
89 |
✓✗ |
16 |
ar& make_nvp("d", half_space.d); |
90 |
|
16 |
} |
91 |
|
|
|
92 |
|
|
template <class Archive> |
93 |
|
16 |
void serialize(Archive& ar, hpp::fcl::Plane& plane, |
94 |
|
|
const unsigned int /*version*/) { |
95 |
✓✗ |
16 |
ar& make_nvp("base", |
96 |
|
16 |
boost::serialization::base_object<hpp::fcl::ShapeBase>(plane)); |
97 |
✓✗ |
16 |
ar& make_nvp("n", plane.n); |
98 |
✓✗ |
16 |
ar& make_nvp("d", plane.d); |
99 |
|
16 |
} |
100 |
|
|
|
101 |
|
|
} // namespace serialization |
102 |
|
|
} // namespace boost |
103 |
|
|
|
104 |
|
|
#endif // ifndef HPP_FCL_SERIALIZATION_GEOMETRIC_SHAPES_H |