serialization.hh

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// Copyright (c) 2020, Joseph Mirabel
// Authors: Joseph Mirabel (joseph.mirabel@laas.fr)
//
 
// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions are
// met:
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// 1. Redistributions of source code must retain the above copyright
//    notice, this list of conditions and the following disclaimer.
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// 2. Redistributions in binary form must reproduce the above copyright
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#ifndef HPP_PINOCCHIO_LIEGROUP_SERIALIZATION_HH
#define HPP_PINOCCHIO_LIEGROUP_SERIALIZATION_HH
 
#include <boost/serialization/serialization.hpp>
#include <boost/serialization/split_free.hpp>
#include <hpp/pinocchio/liegroup.hh>
 
namespace boost {
namespace serialization {
 
template <class Archive, int Size, bool rot>
inline void serialize(
    Archive& ar, hpp::pinocchio::liegroup::VectorSpaceOperation<Size, rot>& lg,
    const unsigned int version) {
  (void)version;
  if (Size == Eigen::Dynamic) {
    int size = static_cast<int>(lg.nq());
    ar& make_nvp("size", size);
    if (!Archive::is_saving::value) {
      // TODO VectorSpaceOperation should provide a resize operation.
      lg = hpp::pinocchio::liegroup::VectorSpaceOperation<Size, rot>(size);
    }
  }
}
 
template <class Archive, typename LieGroup1, typename LieGroup2>
inline void serialize(
    Archive& ar,
    hpp::pinocchio::liegroup::CartesianProductOperation<LieGroup1, LieGroup2>&
        lg,
    const unsigned int version) {
  (void)version;
#if PINOCCHIO_VERSION_AT_LEAST(2, 4, 5)
  ar& make_nvp("lg1", lg.lg1);
  ar& make_nvp("lg2", lg.lg2);
#else
  (void)ar;
  (void)lg;
  throw std::logic_error(
      "Pinocchio version is too low for serializing "
      "hpp::pinocchio::liegroup::CartesianProductOperation");
#endif
}
 
template <class Archive, int N>
inline void serialize(
    Archive& ar, hpp::pinocchio::liegroup::SpecialOrthogonalOperation<N>& lg,
    const unsigned int version) {
  (void)ar;
  (void)lg;
  (void)version;
}
 
template <class Archive, int N>
inline void serialize(
    Archive& ar, hpp::pinocchio::liegroup::SpecialEuclideanOperation<N>& lg,
    const unsigned int version) {
  (void)ar;
  (void)lg;
  (void)version;
}
}  // namespace serialization
}  // namespace boost
 
#endif  // HPP_PINOCCHIO_LIEGROUP_SERIALIZATION_HH