GCC Code Coverage Report

Directory: ./
File: include/pinocchio/serialization/joints-model.hpp
Date: 2024-08-27 18:20:05
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Branches: 0 62 0.0%
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1 //
2 // Copyright (c) 2019 INRIA
3 //
4
5 #ifndef __pinocchio_serialization_joints_model_hpp__
6 #define __pinocchio_serialization_joints_model_hpp__
7
8 namespace pinocchio
9 {
10 template<typename Scalar, int Options, template<typename S, int O> class JointCollectionTpl>
11 struct Serialize<JointModelCompositeTpl<Scalar, Options, JointCollectionTpl>>
12 {
13 template<typename Archive>
14 static void
15 ✗ run(Archive & ar, JointModelCompositeTpl<Scalar, Options, JointCollectionTpl> & joint)
16 {
17 using boost::serialization::make_nvp;
18
19 ✗ ar & make_nvp("m_nq", joint.m_nq);
20 ✗ ar & make_nvp("m_nv", joint.m_nv);
21 ✗ ar & make_nvp("m_idx_q", joint.m_idx_q);
22 ✗ ar & make_nvp("m_nqs", joint.m_nqs);
23 ✗ ar & make_nvp("m_idx_v", joint.m_idx_v);
24 ✗ ar & make_nvp("m_nvs", joint.m_nvs);
25 ✗ ar & make_nvp("njoints", joint.njoints);
26
27 ✗ ar & make_nvp("joints", joint.joints);
28 ✗ ar & make_nvp("jointPlacements", joint.jointPlacements);
29 }
30 };
31 } // namespace pinocchio
32
33 namespace boost
34 {
35 namespace serialization
36 {
37
38 // For some older version of gcc, we have to rely on an additional namespace
39 // to avoid ambiguous call to boost::serialization::serialize
40 namespace fix
41 {
42 template<class Archive, typename Derived>
43 ✗ void serialize(
44 Archive & ar, pinocchio::JointModelBase<Derived> & joint, const unsigned int version)
45 {
46 ✗ split_free(ar, joint, version);
47 }
48 } // namespace fix
49
50 template<class Archive, typename Derived>
51 ✗ void save(
52 Archive & ar,
53 const pinocchio::JointModelBase<Derived> & joint,
54 const unsigned int /*version*/)
55 {
56 ✗ const pinocchio::JointIndex i_id = joint.id();
57 ✗ const int i_q = joint.idx_q(), i_v = joint.idx_v();
58
59 ✗ ar & make_nvp("i_id", i_id);
60 ✗ ar & make_nvp("i_q", i_q);
61 ✗ ar & make_nvp("i_v", i_v);
62 }
63
64 template<class Archive, typename Derived>
65 void
66 ✗ load(Archive & ar, pinocchio::JointModelBase<Derived> & joint, const unsigned int /*version*/)
67 {
68 pinocchio::JointIndex i_id;
69 int i_q, i_v;
70
71 ✗ ar & make_nvp("i_id", i_id);
72 ✗ ar & make_nvp("i_q", i_q);
73 ✗ ar & make_nvp("i_v", i_v);
74
75 ✗ joint.setIndexes(i_id, i_q, i_v);
76 }
77
78 template<class Archive, typename Scalar, int Options, int axis>
79 ✗ void serialize(
80 Archive & ar,
81 pinocchio::JointModelRevoluteTpl<Scalar, Options, axis> & joint,
82 const unsigned int version)
83 {
84 typedef pinocchio::JointModelRevoluteTpl<Scalar, Options, axis> JointType;
85 // ar & make_nvp("base_class",base_object< pinocchio::JointModelBase<JointType>
86 // >(joint));
87 ✗ fix::serialize(ar, *static_cast<pinocchio::JointModelBase<JointType> *>(&joint), version);
88 }
89
90 template<class Archive, typename Scalar, int Options, int axis>
91 ✗ void serialize(
92 Archive & ar,
93 pinocchio::JointModelRevoluteUnboundedTpl<Scalar, Options, axis> & joint,
94 const unsigned int version)
95 {
96 typedef pinocchio::JointModelRevoluteUnboundedTpl<Scalar, Options, axis> JointType;
97 // ar & make_nvp("base_class",base_object< pinocchio::JointModelBase<JointType>
98 // >(joint));
99 ✗ fix::serialize(ar, *static_cast<pinocchio::JointModelBase<JointType> *>(&joint), version);
100 }
101
102 template<class Archive, typename Scalar, int Options, int axis>
103 ✗ void serialize(
104 Archive & ar,
105 pinocchio::JointModelPrismaticTpl<Scalar, Options, axis> & joint,
106 const unsigned int version)
107 {
108 typedef pinocchio::JointModelPrismaticTpl<Scalar, Options, axis> JointType;
109 // ar & make_nvp("base_class",base_object< pinocchio::JointModelBase<JointType>
110 // >(joint));
111 ✗ fix::serialize(ar, *static_cast<pinocchio::JointModelBase<JointType> *>(&joint), version);
112 }
113
114 template<class Archive, typename Scalar, int Options, int axis>
115 ✗ void serialize(
116 Archive & ar,
117 pinocchio::JointModelHelicalTpl<Scalar, Options, axis> & joint,
118 const unsigned int version)
119 {
120 typedef pinocchio::JointModelHelicalTpl<Scalar, Options, axis> JointType;
121 ✗ fix::serialize(ar, *static_cast<pinocchio::JointModelBase<JointType> *>(&joint), version);
122 ✗ ar & make_nvp("m_pitch", joint.m_pitch);
123 }
124
125 template<class Archive, typename Scalar, int Options>
126 ✗ void serialize(
127 Archive & ar,
128 pinocchio::JointModelHelicalUnalignedTpl<Scalar, Options> & joint,
129 const unsigned int version)
130 {
131 typedef pinocchio::JointModelHelicalUnalignedTpl<Scalar, Options> JointType;
132 ✗ fix::serialize(ar, *static_cast<pinocchio::JointModelBase<JointType> *>(&joint), version);
133 ✗ ar & make_nvp("axis", joint.axis);
134 ✗ ar & make_nvp("m_pitch", joint.m_pitch);
135 }
136
137 template<class Archive, typename Scalar, int Options>
138 ✗ void serialize(
139 Archive & ar,
140 pinocchio::JointModelFreeFlyerTpl<Scalar, Options> & joint,
141 const unsigned int version)
142 {
143 typedef pinocchio::JointModelFreeFlyerTpl<Scalar, Options> JointType;
144 // ar & make_nvp("base_class",base_object< pinocchio::JointModelBase<JointType>
145 // >(joint));
146 ✗ fix::serialize(ar, *static_cast<pinocchio::JointModelBase<JointType> *>(&joint), version);
147 }
148
149 template<class Archive, typename Scalar, int Options>
150 ✗ void serialize(
151 Archive & ar,
152 pinocchio::JointModelPlanarTpl<Scalar, Options> & joint,
153 const unsigned int version)
154 {
155 typedef pinocchio::JointModelPlanarTpl<Scalar, Options> JointType;
156 // ar & make_nvp("base_class",base_object< pinocchio::JointModelBase<JointType>
157 // >(joint));
158 ✗ fix::serialize(ar, *static_cast<pinocchio::JointModelBase<JointType> *>(&joint), version);
159 }
160
161 template<class Archive, typename Scalar, int Options>
162 ✗ void serialize(
163 Archive & ar,
164 pinocchio::JointModelSphericalTpl<Scalar, Options> & joint,
165 const unsigned int version)
166 {
167 typedef pinocchio::JointModelSphericalTpl<Scalar, Options> JointType;
168 // ar & make_nvp("base_class",base_object< pinocchio::JointModelBase<JointType>
169 // >(joint));
170 ✗ fix::serialize(ar, *static_cast<pinocchio::JointModelBase<JointType> *>(&joint), version);
171 }
172
173 template<class Archive, typename Scalar, int Options>
174 ✗ void serialize(
175 Archive & ar,
176 pinocchio::JointModelSphericalZYXTpl<Scalar, Options> & joint,
177 const unsigned int version)
178 {
179 typedef pinocchio::JointModelSphericalZYXTpl<Scalar, Options> JointType;
180 // ar & make_nvp("base_class",base_object< pinocchio::JointModelBase<JointType>
181 // >(joint));
182 ✗ fix::serialize(ar, *static_cast<pinocchio::JointModelBase<JointType> *>(&joint), version);
183 }
184
185 template<class Archive, typename Scalar, int Options>
186 ✗ void serialize(
187 Archive & ar,
188 pinocchio::JointModelTranslationTpl<Scalar, Options> & joint,
189 const unsigned int version)
190 {
191 typedef pinocchio::JointModelTranslationTpl<Scalar, Options> JointType;
192 // ar & make_nvp("base_class",base_object< pinocchio::JointModelBase<JointType>
193 // >(joint));
194 ✗ fix::serialize(ar, *static_cast<pinocchio::JointModelBase<JointType> *>(&joint), version);
195 }
196
197 template<class Archive, typename Scalar, int Options>
198 ✗ void serialize(
199 Archive & ar,
200 pinocchio::JointModelRevoluteUnalignedTpl<Scalar, Options> & joint,
201 const unsigned int version)
202 {
203 typedef pinocchio::JointModelRevoluteUnalignedTpl<Scalar, Options> JointType;
204 // ar & make_nvp("base_class",base_object< pinocchio::JointModelBase<JointType>
205 // >(joint));
206 ✗ fix::serialize(ar, *static_cast<pinocchio::JointModelBase<JointType> *>(&joint), version);
207 ✗ ar & make_nvp("axis", joint.axis);
208 }
209
210 template<class Archive, typename Scalar, int Options>
211 ✗ void serialize(
212 Archive & ar,
213 pinocchio::JointModelRevoluteUnboundedUnalignedTpl<Scalar, Options> & joint,
214 const unsigned int version)
215 {
216 typedef pinocchio::JointModelRevoluteUnboundedUnalignedTpl<Scalar, Options> JointType;
217 // ar & make_nvp("base_class",base_object< pinocchio::JointModelBase<JointType>
218 // >(joint));
219 ✗ fix::serialize(ar, *static_cast<pinocchio::JointModelBase<JointType> *>(&joint), version);
220 ✗ ar & make_nvp("axis", joint.axis);
221 }
222
223 template<class Archive, typename Scalar, int Options>
224 ✗ void serialize(
225 Archive & ar,
226 pinocchio::JointModelPrismaticUnalignedTpl<Scalar, Options> & joint,
227 const unsigned int version)
228 {
229 typedef pinocchio::JointModelPrismaticUnalignedTpl<Scalar, Options> JointType;
230 // ar & make_nvp("base_class",base_object< pinocchio::JointModelBase<JointType>
231 // >(joint));
232 ✗ fix::serialize(ar, *static_cast<pinocchio::JointModelBase<JointType> *>(&joint), version);
233 ✗ ar & make_nvp("axis", joint.axis);
234 }
235
236 template<class Archive, typename Scalar, int Options>
237 ✗ void serialize(
238 Archive & ar,
239 pinocchio::JointModelUniversalTpl<Scalar, Options> & joint,
240 const unsigned int version)
241 {
242 typedef pinocchio::JointModelUniversalTpl<Scalar, Options> JointType;
243 // ar & make_nvp("base_class",base_object< pinocchio::JointModelBase<JointType>
244 // >(joint));
245 ✗ fix::serialize(ar, *static_cast<pinocchio::JointModelBase<JointType> *>(&joint), version);
246 ✗ ar & make_nvp("axis1", joint.axis1);
247 ✗ ar & make_nvp("axis2", joint.axis2);
248 }
249
250 template<
251 class Archive,
252 typename Scalar,
253 int Options,
254 template<typename S, int O>
255 class JointCollectionTpl>
256 ✗ void serialize(
257 Archive & ar,
258 pinocchio::JointModelCompositeTpl<Scalar, Options, JointCollectionTpl> & joint,
259 const unsigned int version)
260 {
261 typedef pinocchio::JointModelCompositeTpl<Scalar, Options, JointCollectionTpl> JointType;
262 // ar & make_nvp("base_class",base_object< pinocchio::JointModelBase<JointType>
263 // >(joint));
264 ✗ fix::serialize(ar, *static_cast<pinocchio::JointModelBase<JointType> *>(&joint), version);
265
266 ✗ ::pinocchio::Serialize<JointType>::run(ar, joint);
267 }
268
269 template<
270 class Archive,
271 typename Scalar,
272 int Options,
273 template<typename S, int O>
274 class JointCollectionTpl>
275 ✗ void serialize(
276 Archive & ar,
277 pinocchio::JointModelTpl<Scalar, Options, JointCollectionTpl> & joint,
278 const unsigned int version)
279 {
280 typedef pinocchio::JointModelTpl<Scalar, Options, JointCollectionTpl> JointType;
281 // ar & make_nvp("base_class",base_object< pinocchio::JointModelBase<JointType>
282 // >(joint));
283 ✗ fix::serialize(ar, *static_cast<pinocchio::JointModelBase<JointType> *>(&joint), version);
284
285 typedef typename JointCollectionTpl<Scalar, Options>::JointModelVariant JointModelVariant;
286 ✗ ar & make_nvp("base_variant", base_object<JointModelVariant>(joint));
287 }
288
289 template<class Archive, typename JointModel>
290 ✗ void serialize(
291 Archive & ar, pinocchio::JointModelMimic<JointModel> & joint, const unsigned int version)
292 {
293 typedef pinocchio::JointModelMimic<JointModel> JointType;
294 // ar & make_nvp("base_class",base_object< pinocchio::JointModelBase<JointType>
295 // >(joint));
296 ✗ fix::serialize(ar, *static_cast<pinocchio::JointModelBase<JointType> *>(&joint), version);
297
298 ✗ ar & make_nvp("jmodel", joint.jmodel());
299 ✗ ar & make_nvp("scaling", joint.scaling());
300 ✗ ar & make_nvp("offset", joint.offset());
301 }
302
303 } // namespace serialization
304 } // namespace boost
305
306 #endif // ifndef __pinocchio_serialization_joints_model_hpp__
307