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// |
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// Copyright (c) 2021-2024 INRIA |
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// |
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#ifndef __pinocchio_serialization_multibody_geometry_hpp__ |
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#define __pinocchio_serialization_multibody_geometry_hpp__ |
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#include <boost/serialization/vector.hpp> |
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#include <boost/serialization/map.hpp> |
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#include <boost/serialization/shared_ptr.hpp> |
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#ifdef PINOCCHIO_WITH_HPP_FCL |
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#define HPP_FCL_SKIP_EIGEN_BOOST_SERIALIZATION |
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#include <hpp/fcl/serialization/collision_data.h> |
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#undef HPP_FCL_SKIP_EIGEN_BOOST_SERIALIZATION |
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#include <hpp/fcl/serialization/geometric_shapes.h> |
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#include <hpp/fcl/serialization/hfield.h> |
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#if HPP_FCL_VERSION_AT_LEAST(3, 0, 0) |
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#include <hpp/fcl/serialization/octree.h> |
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#endif |
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#include <hpp/fcl/serialization/convex.h> |
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#include <hpp/fcl/serialization/BVH_model.h> |
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#endif // PINOCCHIO_WITH_HPP_FCL |
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#include "pinocchio/multibody/geometry.hpp" |
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#include "pinocchio/serialization/aligned-vector.hpp" |
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#include "pinocchio/serialization/spatial.hpp" |
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#include "pinocchio/serialization/fcl.hpp" |
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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<class Archive> |
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void serialize( |
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Archive & ar, pinocchio::CollisionPair & collision_pair, const unsigned int /*version*/) |
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{ |
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ar & make_nvp("pair", base_object<pinocchio::CollisionPair::Base>(collision_pair)); |
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} |
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template<class Archive, typename Derived> |
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void serialize( |
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Archive & ar, pinocchio::ModelItem<Derived> & model_item, const unsigned int /*version*/) |
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{ |
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ar & make_nvp("name", model_item.name); |
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ar & make_nvp("parentFrame", model_item.parentFrame); |
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ar & make_nvp("parentJoint", model_item.parentJoint); |
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ar & make_nvp("placement", model_item.placement); |
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} |
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template<class Archive> |
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void serialize( |
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Archive & ar, pinocchio::GeometryObject & geometry_object, const unsigned int /*version*/) |
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{ |
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ar & make_nvp("base", base_object<pinocchio::GeometryObject::Base>(geometry_object)); |
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ar & make_nvp("geometry", geometry_object.geometry); |
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ar & make_nvp("meshPath", geometry_object.meshPath); |
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ar & make_nvp("meshScale", geometry_object.meshScale); |
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ar & make_nvp("overrideMaterial", geometry_object.overrideMaterial); |
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ar & make_nvp("meshColor", geometry_object.meshColor); |
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ar & make_nvp("meshTexturePath", geometry_object.meshTexturePath); |
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ar & make_nvp("disableCollision", geometry_object.disableCollision); |
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} |
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template<class Archive> |
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void save_construct_data( |
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Archive & ar, |
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const pinocchio::GeometryObject * geometry_object_ptr, |
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const unsigned int /*version*/) |
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{ |
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ar << make_nvp( |
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"base", *static_cast<const pinocchio::GeometryObject::Base *>(geometry_object_ptr)); |
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} |
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template<class Archive> |
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void load_construct_data( |
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Archive & ar, pinocchio::GeometryObject * geometry_object_ptr, const unsigned int /*version*/) |
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{ |
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pinocchio::GeometryObject::Base base_obj; |
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ar >> make_nvp("base", base_obj); |
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new (geometry_object_ptr) pinocchio::GeometryObject( |
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base_obj.name, base_obj.parentJoint, base_obj.parentFrame, base_obj.placement, nullptr); |
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} |
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template<class Archive> |
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void |
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serialize(Archive & ar, pinocchio::GeometryModel & geom_model, const unsigned int /*version*/) |
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{ |
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ar & make_nvp("ngeoms", geom_model.ngeoms); |
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ar & make_nvp("geometryObjects", geom_model.geometryObjects); |
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ar & make_nvp("collisionPairs", geom_model.collisionPairs); |
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ar & make_nvp("collisionPairMapping", geom_model.collisionPairMapping); |
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} |
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template<class Archive> |
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void |
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serialize(Archive & ar, pinocchio::GeometryData & geom_data, const unsigned int /*version*/) |
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{ |
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ar & make_nvp("oMg", geom_data.oMg); |
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ar & make_nvp("activeCollisionPairs", geom_data.activeCollisionPairs); |
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#ifdef PINOCCHIO_WITH_HPP_FCL |
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// TODO(jcarpent): check whether the archive has been registered with HPP_FCL module ON or |
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// OFF. |
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ar & make_nvp("distanceRequests", geom_data.distanceRequests); |
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ar & make_nvp("distanceResults", geom_data.distanceResults); |
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ar & make_nvp("collisionRequests", geom_data.collisionRequests); |
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ar & make_nvp("collisionResults", geom_data.collisionResults); |
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ar & make_nvp("radius", geom_data.radius); |
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ar & make_nvp("collisionPairIndex", geom_data.collisionPairIndex); |
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#endif // PINOCCHIO_WITH_HPP_FCL |
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ar & make_nvp("innerObjects", geom_data.innerObjects); |
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ar & make_nvp("outerObjects", geom_data.outerObjects); |
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} |
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} // namespace serialization |
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} // namespace boost |
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#endif // ifndef __pinocchio_serialization_multibody_geometry_hpp__ |
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