| Line | Branch | Exec | Source |
|---|---|---|---|
| 1 | /** | ||
| 2 | * \file registeration.h | ||
| 3 | * \brief registeration of class for serialization | ||
| 4 | * \author Pierre Fernbach | ||
| 5 | * \version 0.1 | ||
| 6 | * \date 27/11/19 | ||
| 7 | * | ||
| 8 | * Boost::serialization need to be aware of all the derived class of the | ||
| 9 | * abstract curve_abc, and thier template parameters. Otherwise we cannot | ||
| 10 | * serialize a pointer to curve_abc. New class should be added at the end and | ||
| 11 | * the order should not change or it will break backward compatibility when | ||
| 12 | * deserializing objects. | ||
| 13 | * | ||
| 14 | */ | ||
| 15 | |||
| 16 | #ifndef CURVES_REGISTERATION_H | ||
| 17 | #define CURVES_REGISTERATION_H | ||
| 18 | #include <Eigen/Dense> | ||
| 19 | #include <vector> | ||
| 20 | |||
| 21 | #include "ndcurves/fwd.h" | ||
| 22 | |||
| 23 | /** | ||
| 24 | *This file define a method register_types that | ||
| 25 | * register all the curves class of this package for a boost::Archive | ||
| 26 | * This is used to serialize pointer of the abstract class curve_abc | ||
| 27 | */ | ||
| 28 | |||
| 29 | namespace ndcurves { | ||
| 30 | namespace serialization { | ||
| 31 | |||
| 32 | template <class Archive> | ||
| 33 | 656 | void register_types(Archive& ar, const unsigned int version) { | |
| 34 | // register derived class | ||
| 35 | 656 | ar.template register_type<polynomial_t>(); | |
| 36 | 656 | ar.template register_type<exact_cubic_t>(); | |
| 37 | 656 | ar.template register_type<bezier_t>(); | |
| 38 | 656 | ar.template register_type<cubic_hermite_spline_t>(); | |
| 39 | 656 | ar.template register_type<piecewise_t>(); | |
| 40 | |||
| 41 | 656 | ar.template register_type<polynomial3_t>(); | |
| 42 | 656 | ar.template register_type<exact_cubic3_t>(); | |
| 43 | 656 | ar.template register_type<bezier3_t>(); | |
| 44 | 656 | ar.template register_type<cubic_hermite_spline3_t>(); | |
| 45 | 656 | ar.template register_type<piecewise3_t>(); | |
| 46 | |||
| 47 | 656 | ar.template register_type<SO3Linear_t>(); | |
| 48 | 656 | ar.template register_type<SE3Curve_t>(); | |
| 49 | 656 | ar.template register_type<piecewise_SE3_t>(); | |
| 50 | |||
| 51 |
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656 | if (version >= 1) { |
| 52 | 656 | ar.template register_type<constant3_t>(); | |
| 53 | 656 | ar.template register_type<sinusoidal_t>(); | |
| 54 | 656 | ar.template register_type<constant_t>(); | |
| 55 | 656 | ar.template register_type<polynomial1_t>(); | |
| 56 | #ifdef CURVES_WITH_PINOCCHIO_SUPPORT | ||
| 57 | 656 | ar.template register_type<SO3Smooth_t>(); | |
| 58 | #endif | ||
| 59 | } | ||
| 60 | 656 | } | |
| 61 | |||
| 62 | } // namespace serialization | ||
| 63 | } // namespace ndcurves | ||
| 64 | |||
| 65 | #endif // CURVES_REGISTERATION_H | ||
| 66 |