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// |
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// Copyright (c) 2020 CNRS |
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// Author: Joseph Mirabel |
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// |
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// Redistribution and use in source and binary forms, with or without |
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// modification, are permitted provided that the following conditions are |
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// met: |
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// |
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// 1. Redistributions of source code must retain the above copyright |
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// notice, this list of conditions and the following disclaimer. |
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// |
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// 2. Redistributions in binary form must reproduce the above copyright |
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// notice, this list of conditions and the following disclaimer in the |
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// documentation and/or other materials provided with the distribution. |
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// |
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// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS |
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// "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT |
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// LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR |
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// A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT |
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// HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, |
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// SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT |
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// LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, |
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// DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY |
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// THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT |
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// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE |
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// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH |
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// DAMAGE. |
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#ifndef HPP_MANIPULATION_SERIALIZATION_HH |
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#define HPP_MANIPULATION_SERIALIZATION_HH |
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#include <boost/serialization/shared_ptr.hpp> |
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#include <boost/serialization/split_free.hpp> |
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#include <boost/serialization/weak_ptr.hpp> |
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#include <hpp/manipulation/fwd.hh> |
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#include <hpp/manipulation/graph/edge.hh> |
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#include <hpp/manipulation/graph/graph.hh> |
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#include <hpp/manipulation/graph/state.hh> |
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#include <hpp/pinocchio/serialization.hh> |
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#include <hpp/util/serialization.hh> |
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namespace hpp { |
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namespace serialization { |
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template <typename Archive> |
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manipulation::graph::GraphPtr_t getGraphFromArchive(Archive& ar, |
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const std::string& name) { |
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auto* har = hpp::serialization::cast(&ar); |
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if (!har || !har->contains(name)) |
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throw std::runtime_error( |
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"Cannot deserialize edges with a provided graph with correct name."); |
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return har->template get<manipulation::graph::Graph>(name, true)->self(); |
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} |
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template <class Archive, class GraphCompT> |
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inline void serializeGraphComponent(Archive& ar, shared_ptr<GraphCompT>& c, |
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const unsigned int version) { |
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(void)version; |
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std::size_t id; |
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std::string name; |
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if (Archive::is_saving::value) { |
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id = (c ? c->id() : -1); |
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if (c && c->parentGraph()) name = c->parentGraph()->name(); |
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} |
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ar& BOOST_SERIALIZATION_NVP(id); |
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ar& BOOST_SERIALIZATION_NVP(name); |
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if (!Archive::is_saving::value) { |
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auto graph = getGraphFromArchive(ar, name); |
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c = HPP_DYNAMIC_PTR_CAST(GraphCompT, graph->get(id).lock()); |
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} |
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} |
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} // namespace serialization |
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} // namespace hpp |
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BOOST_CLASS_EXPORT_KEY(hpp::manipulation::RoadmapNode) |
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BOOST_CLASS_EXPORT_KEY(hpp::manipulation::ConnectedComponent) |
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BOOST_CLASS_EXPORT_KEY(hpp::manipulation::WeighedLeafConnectedComp) |
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BOOST_CLASS_EXPORT_KEY(hpp::manipulation::Roadmap) |
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namespace boost { |
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namespace serialization { |
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template <class Archive> |
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inline void serialize(Archive& ar, hpp::manipulation::graph::GraphPtr_t& g, |
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const unsigned int version) { |
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using hpp::serialization::getGraphFromArchive; |
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(void)version; |
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std::string name; |
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if (Archive::is_saving::value) name = g->name(); |
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ar& BOOST_SERIALIZATION_NVP(name); |
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if (!Archive::is_saving::value) g = getGraphFromArchive(ar, name); |
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} |
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template <class Archive> |
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inline void serialize(Archive& ar, hpp::manipulation::graph::EdgePtr_t& e, |
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const unsigned int version) { |
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hpp::serialization::serializeGraphComponent(ar, e, version); |
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} |
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template <class Archive> |
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inline void serialize(Archive& ar, hpp::manipulation::graph::StatePtr_t& s, |
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const unsigned int version) { |
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hpp::serialization::serializeGraphComponent(ar, s, version); |
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} |
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template <class Archive> |
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inline void serialize(Archive& ar, hpp::manipulation::graph::EdgeWkPtr_t& e, |
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const unsigned int version) { |
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auto e_ = e.lock(); |
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serialize(ar, e_, version); |
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e = e_; |
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} |
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template <class Archive> |
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inline void serialize(Archive& ar, hpp::manipulation::graph::StateWkPtr_t& s, |
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const unsigned int version) { |
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auto s_ = s.lock(); |
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serialize(ar, s_, version); |
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s = s_; |
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} |
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template <class Archive> |
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inline void load(Archive& ar, hpp::manipulation::DevicePtr_t& d, |
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const unsigned int version) { |
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load<Archive, hpp::manipulation::Device>(ar, d, version); |
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auto* har = hpp::serialization::cast(&ar); |
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if (d && har && har->contains(d->name())) |
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d = har->template getChildClass<hpp::pinocchio::Device, |
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hpp::manipulation::Device>(d->name(), true) |
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->self(); |
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} |
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template <class Archive> |
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inline void load(Archive& ar, hpp::manipulation::DeviceWkPtr_t& d, |
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const unsigned int version) { |
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load<Archive, hpp::manipulation::Device>(ar, d, version); |
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auto* har = hpp::serialization::cast(&ar); |
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auto dd = d.lock(); |
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if (!dd) return; |
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if (har && har->contains(dd->name())) |
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d = har->template getChildClass<hpp::pinocchio::Device, |
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hpp::manipulation::Device>(dd->name(), true) |
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->self(); |
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} |
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} // namespace serialization |
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} // namespace boost |
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#endif // HPP_MANIPULATION_SERIALIZATION_HH |
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