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// |
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// Copyright (c) 2017-2020 CNRS INRIA |
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// |
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#ifndef __pinocchio_serialization_eigen_matrix_hpp__ |
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#define __pinocchio_serialization_eigen_matrix_hpp__ |
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#include <Eigen/Dense> |
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#include "pinocchio/math/tensor.hpp" |
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#include <boost/serialization/split_free.hpp> |
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#include <boost/serialization/vector.hpp> |
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#include <boost/serialization/array.hpp> |
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// If hpp-fcl < 3.0.0 The GCC Eigen/Boost.Serialization workaround |
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// is already defined. |
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// If we don't link against hpp-fcl or hpp-fcl >= 3.0.0 then we must define |
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// the workaround. |
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#if defined PINOCCHIO_WITH_HPP_FCL |
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#include <hpp/fcl/config.hh> |
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#if !HPP_FCL_VERSION_AT_LEAST(3, 0, 0) // hpp-fcl < 3.0.0 |
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#define HPP_FCL_SKIP_EIGEN_BOOST_SERIALIZATION |
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#include <hpp/fcl/serialization/eigen.h> |
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#else // hpp-fcl >= 3.0.0 |
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// Workaround a bug in GCC >= 7 and C++17. |
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// ref. https://gitlab.com/libeigen/eigen/-/issues/1676 |
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#ifdef __GNUC__ |
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#if __GNUC__ >= 7 && __cplusplus >= 201703L |
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namespace boost |
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{ |
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namespace serialization |
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{ |
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struct U; |
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} |
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} // namespace boost |
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namespace Eigen |
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{ |
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namespace internal |
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{ |
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template<> |
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struct traits<boost::serialization::U> |
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{ |
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enum |
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{ |
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Flags = 0 |
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}; |
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}; |
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} // namespace internal |
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} // namespace Eigen |
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#endif |
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#endif |
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#endif |
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#else // !PINOCCHIO_WITH_HPP_FCL |
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// Workaround a bug in GCC >= 7 and C++17. |
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// ref. https://gitlab.com/libeigen/eigen/-/issues/1676 |
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#ifdef __GNUC__ |
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#if __GNUC__ >= 7 && __cplusplus >= 201703L |
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namespace boost |
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{ |
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namespace serialization |
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{ |
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struct U; |
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} |
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} // namespace boost |
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namespace Eigen |
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{ |
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namespace internal |
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{ |
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template<> |
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struct traits<boost::serialization::U> |
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{ |
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enum |
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{ |
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Flags = 0 |
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}; |
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}; |
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} // namespace internal |
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} // namespace Eigen |
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#endif |
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#endif |
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#endif |
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namespace boost |
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{ |
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namespace serialization |
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{ |
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template< |
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class Archive, |
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typename Scalar, |
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int Rows, |
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int Cols, |
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int Options, |
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int MaxRows, |
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int MaxCols> |
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void save( |
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Archive & ar, |
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const Eigen::Matrix<Scalar, Rows, Cols, Options, MaxRows, MaxCols> & m, |
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const unsigned int /*version*/) |
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{ |
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Eigen::DenseIndex rows(m.rows()), cols(m.cols()); |
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if (Rows == Eigen::Dynamic) |
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ar & BOOST_SERIALIZATION_NVP(rows); |
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if (Cols == Eigen::Dynamic) |
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ar & BOOST_SERIALIZATION_NVP(cols); |
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ar & make_nvp("data", make_array(m.data(), (size_t)m.size())); |
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} |
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template< |
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class Archive, |
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typename Scalar, |
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int Rows, |
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int Cols, |
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int Options, |
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int MaxRows, |
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int MaxCols> |
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✗ |
void load( |
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Archive & ar, |
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Eigen::Matrix<Scalar, Rows, Cols, Options, MaxRows, MaxCols> & m, |
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const unsigned int /*version*/) |
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{ |
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Eigen::DenseIndex rows = Rows, cols = Cols; |
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if (Rows == Eigen::Dynamic) |
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ar >> BOOST_SERIALIZATION_NVP(rows); |
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if (Cols == Eigen::Dynamic) |
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ar >> BOOST_SERIALIZATION_NVP(cols); |
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m.resize(rows, cols); |
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ar >> make_nvp("data", make_array(m.data(), (size_t)m.size())); |
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} |
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template< |
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class Archive, |
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typename Scalar, |
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int Rows, |
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int Cols, |
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int Options, |
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int MaxRows, |
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int MaxCols> |
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void serialize( |
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Archive & ar, |
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Eigen::Matrix<Scalar, Rows, Cols, Options, MaxRows, MaxCols> & m, |
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const unsigned int version) |
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{ |
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split_free(ar, m, version); |
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} |
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template<class Archive, typename PlainObjectBase, int MapOptions, typename StrideType> |
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void save( |
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Archive & ar, |
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const Eigen::Map<PlainObjectBase, MapOptions, StrideType> & m, |
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const unsigned int /*version*/) |
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{ |
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Eigen::DenseIndex rows(m.rows()), cols(m.cols()); |
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if (PlainObjectBase::RowsAtCompileTime == Eigen::Dynamic) |
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ar & BOOST_SERIALIZATION_NVP(rows); |
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if (PlainObjectBase::ColsAtCompileTime == Eigen::Dynamic) |
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ar & BOOST_SERIALIZATION_NVP(cols); |
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ar & make_nvp("data", make_array(m.data(), (size_t)m.size())); |
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} |
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template<class Archive, typename PlainObjectBase, int MapOptions, typename StrideType> |
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void load( |
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Archive & ar, |
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Eigen::Map<PlainObjectBase, MapOptions, StrideType> & m, |
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const unsigned int /*version*/) |
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{ |
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Eigen::DenseIndex rows = PlainObjectBase::RowsAtCompileTime, |
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cols = PlainObjectBase::ColsAtCompileTime; |
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if (PlainObjectBase::RowsAtCompileTime == Eigen::Dynamic) |
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ar >> BOOST_SERIALIZATION_NVP(rows); |
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if (PlainObjectBase::ColsAtCompileTime == Eigen::Dynamic) |
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ar >> BOOST_SERIALIZATION_NVP(cols); |
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m.resize(rows, cols); |
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ar >> make_nvp("data", make_array(m.data(), (size_t)m.size())); |
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} |
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template<class Archive, typename PlainObjectBase, int MapOptions, typename StrideType> |
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void serialize( |
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Archive & ar, |
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Eigen::Map<PlainObjectBase, MapOptions, StrideType> & m, |
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const unsigned int version) |
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{ |
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split_free(ar, m, version); |
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} |
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#if !defined(PINOCCHIO_WITH_EIGEN_TENSOR_MODULE) \ |
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&& ((__cplusplus <= 199711L && EIGEN_COMP_MSVC < 1900) || defined(__CUDACC__) || defined(EIGEN_AVOID_STL_ARRAY)) |
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template<class Archive, typename _IndexType, std::size_t _NumIndices> |
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void save( |
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Archive & ar, const Eigen::array<_IndexType, _NumIndices> & a, const unsigned int /*version*/) |
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{ |
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ar & make_nvp("array", make_array(&a.front(), _NumIndices)); |
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} |
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template<class Archive, typename _IndexType, std::size_t _NumIndices> |
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void |
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load(Archive & ar, Eigen::array<_IndexType, _NumIndices> & a, const unsigned int /*version*/) |
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{ |
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ar >> make_nvp("array", make_array(&a.front(), _NumIndices)); |
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} |
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template<class Archive, typename _IndexType, std::size_t _NumIndices> |
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void |
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serialize(Archive & ar, Eigen::array<_IndexType, _NumIndices> & a, const unsigned int version) |
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{ |
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split_free(ar, a, version); |
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} |
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#else |
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template<class Archive, class T, std::size_t N> |
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void save(Archive & ar, const std::array<T, N> & a, const unsigned int version) |
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{ |
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typedef std::array<T, N> Array; |
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serialize(ar, const_cast<Array &>(a), version); |
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} |
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template<class Archive, class T, std::size_t N> |
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void load(Archive & ar, std::array<T, N> & a, const unsigned int version) |
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{ |
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serialize(ar, a, version); |
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} |
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#endif |
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#ifdef PINOCCHIO_WITH_EIGEN_TENSOR_MODULE |
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template<class Archive, typename _IndexType, int _NumIndices> |
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void save( |
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Archive & ar, const Eigen::DSizes<_IndexType, _NumIndices> & ds, const unsigned int version) |
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{ |
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save(ar, static_cast<const Eigen::array<_IndexType, _NumIndices> &>(ds), version); |
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} |
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template<class Archive, typename _IndexType, int _NumIndices> |
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void load(Archive & ar, Eigen::DSizes<_IndexType, _NumIndices> & ds, const unsigned int version) |
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{ |
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load(ar, static_cast<Eigen::array<_IndexType, _NumIndices> &>(ds), version); |
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} |
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template<class Archive, typename _IndexType, int _NumIndices> |
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void |
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serialize(Archive & ar, Eigen::DSizes<_IndexType, _NumIndices> & ds, const unsigned int version) |
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{ |
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split_free(ar, static_cast<Eigen::array<_IndexType, _NumIndices> &>(ds), version); |
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} |
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#endif |
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template<class Archive, typename _Scalar, int _NumIndices, int _Options, typename _IndexType> |
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void save( |
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Archive & ar, |
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const ::pinocchio::Tensor<_Scalar, _NumIndices, _Options, _IndexType> & t, |
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const unsigned int /*version*/) |
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{ |
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typedef ::pinocchio::Tensor<_Scalar, _NumIndices, _Options, _IndexType> Tensor; |
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const typename Tensor::Dimensions & dimensions = t.dimensions(); |
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ar & BOOST_SERIALIZATION_NVP(dimensions); |
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ar & make_nvp("data", make_array(t.data(), (size_t)t.size())); |
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} |
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template<class Archive, typename _Scalar, int _NumIndices, int _Options, typename _IndexType> |
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void load( |
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Archive & ar, |
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::pinocchio::Tensor<_Scalar, _NumIndices, _Options, _IndexType> & t, |
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const unsigned int /*version*/) |
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{ |
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typedef ::pinocchio::Tensor<_Scalar, _NumIndices, _Options, _IndexType> Tensor; |
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typename Tensor::Dimensions dimensions; |
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ar >> BOOST_SERIALIZATION_NVP(dimensions); |
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t.resize(dimensions); |
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ar >> make_nvp("data", make_array(t.data(), (size_t)t.size())); |
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} |
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template<class Archive, typename _Scalar, int _NumIndices, int _Options, typename _IndexType> |
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void serialize( |
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Archive & ar, |
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::pinocchio::Tensor<_Scalar, _NumIndices, _Options, _IndexType> & t, |
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const unsigned int version) |
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{ |
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split_free(ar, t, version); |
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} |
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} // namespace serialization |
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} // namespace boost |
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#endif // ifndef __pinocchio_serialization_eigen_matrix_hpp__ |
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