| Directory: | ./ |
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| File: | include/multicontact-api/serialization/eigen-matrix.hpp |
| Date: | 2025-03-10 16:17:01 |
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| 1 | // Copyright (c) 2015-2018, CNRS | ||
| 2 | // Authors: Justin Carpentier <jcarpent@laas.fr> | ||
| 3 | |||
| 4 | /* | ||
| 5 | Code adapted from: | ||
| 6 | https://gist.githubusercontent.com/mtao/5798888/raw/5be9fa9b66336c166dba3a92c0e5b69ffdb81501/eigen_boost_serialization.hpp | ||
| 7 | Copyright (c) 2015 Michael Tao | ||
| 8 | |||
| 9 | Permission is hereby granted, free of charge, to any person obtaining a copy | ||
| 10 | of this software and associated documentation files (the "Software"), to deal | ||
| 11 | in the Software without restriction, including without limitation the rights | ||
| 12 | to use, copy, modify, merge, publish, distribute, sublicense, and/or sell | ||
| 13 | copies of the Software, and to permit persons to whom the Software is | ||
| 14 | furnished to do so, subject to the following conditions: | ||
| 15 | |||
| 16 | The above copyright notice and this permission notice shall be included in | ||
| 17 | all copies or substantial portions of the Software. | ||
| 18 | |||
| 19 | THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR | ||
| 20 | IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, | ||
| 21 | FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE | ||
| 22 | AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER | ||
| 23 | LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, | ||
| 24 | OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN | ||
| 25 | THE SOFTWARE. | ||
| 26 | */ | ||
| 27 | |||
| 28 | #ifndef EIGEN_BOOST_SERIALIZATION | ||
| 29 | #define EIGEN_BOOST_SERIALIZATION | ||
| 30 | |||
| 31 | #include <Eigen/Dense> | ||
| 32 | #include <boost/serialization/split_free.hpp> | ||
| 33 | #include <boost/serialization/vector.hpp> | ||
| 34 | |||
| 35 | namespace boost { | ||
| 36 | namespace serialization { | ||
| 37 | template <class Archive, typename _Scalar, int _Rows, int _Cols, int _Options, | ||
| 38 | int _MaxRows, int _MaxCols> | ||
| 39 | 1966 | void save( | |
| 40 | Archive& ar, | ||
| 41 | const Eigen::Matrix<_Scalar, _Rows, _Cols, _Options, _MaxRows, _MaxCols>& m, | ||
| 42 | const unsigned int version) { | ||
| 43 | if (version) { | ||
| 44 | // Do something | ||
| 45 | } | ||
| 46 | 1966 | Eigen::DenseIndex rows(m.rows()), cols(m.cols()); | |
| 47 |
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1966 | ar& BOOST_SERIALIZATION_NVP(rows); |
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1966 | ar& BOOST_SERIALIZATION_NVP(cols); |
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1966 | ar& make_nvp("data", make_array(m.data(), (size_t)m.size())); |
| 50 | 1966 | } | |
| 51 | |||
| 52 | template <class Archive, typename _Scalar, int _Rows, int _Cols, int _Options, | ||
| 53 | int _MaxRows, int _MaxCols> | ||
| 54 | 1966 | void load(Archive& ar, | |
| 55 | Eigen::Matrix<_Scalar, _Rows, _Cols, _Options, _MaxRows, _MaxCols>& m, | ||
| 56 | const unsigned int version) { | ||
| 57 | if (version) { | ||
| 58 | // Do something | ||
| 59 | } | ||
| 60 | Eigen::DenseIndex rows, cols; | ||
| 61 |
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1966 | ar >> BOOST_SERIALIZATION_NVP(rows); |
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1966 | ar >> BOOST_SERIALIZATION_NVP(cols); |
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1966 | m.resize(rows, cols); |
| 64 | // if(m.size() > 0) | ||
| 65 |
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1966 | ar >> make_nvp("data", make_array(m.data(), (size_t)m.size())); |
| 66 | 1966 | } | |
| 67 | |||
| 68 | template <class Archive, typename _Scalar, int _Rows, int _Cols, int _Options, | ||
| 69 | int _MaxRows, int _MaxCols> | ||
| 70 | 3932 | void serialize( | |
| 71 | Archive& ar, | ||
| 72 | Eigen::Matrix<_Scalar, _Rows, _Cols, _Options, _MaxRows, _MaxCols>& m, | ||
| 73 | const unsigned int version) { | ||
| 74 | 3932 | split_free(ar, m, version); | |
| 75 | 3932 | } | |
| 76 | |||
| 77 | } // namespace serialization | ||
| 78 | } // namespace boost | ||
| 79 | |||
| 80 | #endif // ifndef __multicontact_api_serialization_eigen_matrix_hpp__ | ||
| 81 |