| Directory: | ./ |
|---|---|
| File: | include/pinocchio/serialization/geometry.hpp |
| Date: | 2025-02-12 21:03:38 |
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| Lines: | 45 | 45 | 100.0% |
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| 1 | // | ||
| 2 | // Copyright (c) 2021-2024 INRIA | ||
| 3 | // | ||
| 4 | |||
| 5 | #ifndef __pinocchio_serialization_multibody_geometry_hpp__ | ||
| 6 | #define __pinocchio_serialization_multibody_geometry_hpp__ | ||
| 7 | |||
| 8 | #include <boost/serialization/vector.hpp> | ||
| 9 | #include <boost/serialization/map.hpp> | ||
| 10 | #include <boost/serialization/shared_ptr.hpp> | ||
| 11 | |||
| 12 | #ifdef PINOCCHIO_WITH_HPP_FCL | ||
| 13 | #define HPP_FCL_SKIP_EIGEN_BOOST_SERIALIZATION | ||
| 14 | #include <hpp/fcl/serialization/collision_data.h> | ||
| 15 | #undef HPP_FCL_SKIP_EIGEN_BOOST_SERIALIZATION | ||
| 16 | #include <hpp/fcl/serialization/geometric_shapes.h> | ||
| 17 | #include <hpp/fcl/serialization/hfield.h> | ||
| 18 | #if HPP_FCL_VERSION_AT_LEAST(3, 0, 0) | ||
| 19 | #include <hpp/fcl/serialization/octree.h> | ||
| 20 | #endif | ||
| 21 | #include <hpp/fcl/serialization/convex.h> | ||
| 22 | #include <hpp/fcl/serialization/BVH_model.h> | ||
| 23 | #endif // PINOCCHIO_WITH_HPP_FCL | ||
| 24 | |||
| 25 | #include "pinocchio/multibody/geometry.hpp" | ||
| 26 | #include "pinocchio/serialization/aligned-vector.hpp" | ||
| 27 | #include "pinocchio/serialization/spatial.hpp" | ||
| 28 | #include "pinocchio/serialization/fcl.hpp" | ||
| 29 | |||
| 30 | namespace boost | ||
| 31 | { | ||
| 32 | namespace serialization | ||
| 33 | { | ||
| 34 | template<class Archive> | ||
| 35 | 28 | void serialize( | |
| 36 | Archive & ar, pinocchio::CollisionPair & collision_pair, const unsigned int /*version*/) | ||
| 37 | { | ||
| 38 |
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28 | ar & make_nvp("pair", base_object<pinocchio::CollisionPair::Base>(collision_pair)); |
| 39 | 28 | } | |
| 40 | |||
| 41 | template<class Archive, typename Derived> | ||
| 42 | 1708 | void serialize( | |
| 43 | Archive & ar, pinocchio::ModelItem<Derived> & model_item, const unsigned int /*version*/) | ||
| 44 | { | ||
| 45 |
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1708 | ar & make_nvp("name", model_item.name); |
| 46 |
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1708 | ar & make_nvp("parentFrame", model_item.parentFrame); |
| 47 |
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1708 | ar & make_nvp("parentJoint", model_item.parentJoint); |
| 48 |
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1708 | ar & make_nvp("placement", model_item.placement); |
| 49 | 1708 | } | |
| 50 | |||
| 51 | template<class Archive> | ||
| 52 | 868 | void serialize( | |
| 53 | Archive & ar, pinocchio::GeometryObject & geometry_object, const unsigned int /*version*/) | ||
| 54 | { | ||
| 55 |
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868 | ar & make_nvp("base", base_object<pinocchio::GeometryObject::Base>(geometry_object)); |
| 56 |
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868 | ar & make_nvp("geometry", geometry_object.geometry); |
| 57 |
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868 | ar & make_nvp("meshPath", geometry_object.meshPath); |
| 58 |
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868 | ar & make_nvp("meshScale", geometry_object.meshScale); |
| 59 |
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868 | ar & make_nvp("overrideMaterial", geometry_object.overrideMaterial); |
| 60 |
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868 | ar & make_nvp("meshColor", geometry_object.meshColor); |
| 61 |
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868 | ar & make_nvp("meshTexturePath", geometry_object.meshTexturePath); |
| 62 |
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868 | ar & make_nvp("disableCollision", geometry_object.disableCollision); |
| 63 | 868 | } | |
| 64 | |||
| 65 | template<class Archive> | ||
| 66 | 406 | void save_construct_data( | |
| 67 | Archive & ar, | ||
| 68 | const pinocchio::GeometryObject * geometry_object_ptr, | ||
| 69 | const unsigned int /*version*/) | ||
| 70 | { | ||
| 71 |
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406 | ar << make_nvp( |
| 72 | "base", *static_cast<const pinocchio::GeometryObject::Base *>(geometry_object_ptr)); | ||
| 73 | 406 | } | |
| 74 | |||
| 75 | template<class Archive> | ||
| 76 | 406 | void load_construct_data( | |
| 77 | Archive & ar, pinocchio::GeometryObject * geometry_object_ptr, const unsigned int /*version*/) | ||
| 78 | { | ||
| 79 |
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406 | pinocchio::GeometryObject::Base base_obj; |
| 80 |
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406 | ar >> make_nvp("base", base_obj); |
| 81 | |||
| 82 |
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406 | new (geometry_object_ptr) pinocchio::GeometryObject( |
| 83 | base_obj.name, base_obj.parentJoint, base_obj.parentFrame, base_obj.placement, nullptr); | ||
| 84 | 406 | } | |
| 85 | |||
| 86 | template<class Archive> | ||
| 87 | void | ||
| 88 | 56 | serialize(Archive & ar, pinocchio::GeometryModel & geom_model, const unsigned int /*version*/) | |
| 89 | { | ||
| 90 |
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56 | ar & make_nvp("ngeoms", geom_model.ngeoms); |
| 91 |
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56 | ar & make_nvp("geometryObjects", geom_model.geometryObjects); |
| 92 |
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56 | ar & make_nvp("collisionPairs", geom_model.collisionPairs); |
| 93 |
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56 | ar & make_nvp("collisionPairMapping", geom_model.collisionPairMapping); |
| 94 | 56 | } | |
| 95 | |||
| 96 | template<class Archive> | ||
| 97 | void | ||
| 98 | 56 | serialize(Archive & ar, pinocchio::GeometryData & geom_data, const unsigned int /*version*/) | |
| 99 | { | ||
| 100 |
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56 | ar & make_nvp("oMg", geom_data.oMg); |
| 101 | |||
| 102 |
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56 | ar & make_nvp("activeCollisionPairs", geom_data.activeCollisionPairs); |
| 103 | |||
| 104 | #ifdef PINOCCHIO_WITH_HPP_FCL | ||
| 105 | // TODO(jcarpent): check whether the archive has been registered with HPP_FCL module ON or | ||
| 106 | // OFF. | ||
| 107 |
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56 | ar & make_nvp("distanceRequests", geom_data.distanceRequests); |
| 108 |
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56 | ar & make_nvp("distanceResults", geom_data.distanceResults); |
| 109 |
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56 | ar & make_nvp("collisionRequests", geom_data.collisionRequests); |
| 110 |
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56 | ar & make_nvp("collisionResults", geom_data.collisionResults); |
| 111 | |||
| 112 |
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56 | ar & make_nvp("radius", geom_data.radius); |
| 113 | |||
| 114 |
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56 | ar & make_nvp("collisionPairIndex", geom_data.collisionPairIndex); |
| 115 | #endif // PINOCCHIO_WITH_HPP_FCL | ||
| 116 | |||
| 117 |
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56 | ar & make_nvp("innerObjects", geom_data.innerObjects); |
| 118 |
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56 | ar & make_nvp("outerObjects", geom_data.outerObjects); |
| 119 | 56 | } | |
| 120 | |||
| 121 | } // namespace serialization | ||
| 122 | } // namespace boost | ||
| 123 | |||
| 124 | #endif // ifndef __pinocchio_serialization_multibody_geometry_hpp__ | ||
| 125 |