Fix serialization of liegroup::VectorSpaceOperation<-1,...>

include/hpp/pinocchio/liegroup/serialization.hh

@@ -24,37 +24,21 @@
 
 namespace boost {
 namespace serialization {
-template<class Archive, int Size, bool rot>
-inline void load(Archive & ar,
-    hpp::pinocchio::liegroup::VectorSpaceOperation<Size,rot>& lg,
-    const unsigned int version)
-{
-  (void) version;
-  if (Size == Eigen::Dynamic) {
-    int size;
-    ar & make_nvp("size", size);
-    lg = hpp::pinocchio::liegroup::VectorSpaceOperation<Size,rot> (size);
-  }
-}
 
 template<class Archive, int Size, bool rot>
-inline void save(Archive & ar,
-    const hpp::pinocchio::liegroup::VectorSpaceOperation<Size,rot>& lg,
+inline void serialize(Archive & ar,
+    hpp::pinocchio::liegroup::VectorSpaceOperation<Size,rot>& lg,
     const unsigned int version)
 {
   (void) version;
   if (Size == Eigen::Dynamic) {
     int size = static_cast<int>(lg.nq());
     ar & make_nvp("size", size);
+    if (!Archive::is_saving::value) {
+      // TODO VectorSpaceOperation should provide a resize operation.
+      lg = hpp::pinocchio::liegroup::VectorSpaceOperation<Size,rot>(size);
+    }
   }
-}
-
-template<class Archive, int Size, bool rot>
-inline void serialize(Archive & ar,
-    hpp::pinocchio::liegroup::VectorSpaceOperation<Size,rot>& lg,
-    const unsigned int version)
-{
-  split_free(ar, lg, version);
 }
 
 template<class Archive, typename LieGroup1, typename LieGroup2>

include/hpp/pinocchio/liegroup/vector-space.hh

@@ -58,7 +58,7 @@ namespace hpp {
         /// Constructor
         /// \param size size of the vector space: should be the equal to
         ///        template argument for static sized vector-spaces.
-        VectorSpaceOperation (int size = Size) : Base (size)
+        VectorSpaceOperation (int size = boost::static_signed_max<0,Size>::value) : Base (size)
         {
         }
 

tests/liegroup-element.cc

@@ -291,10 +291,9 @@ BOOST_AUTO_TEST_CASE (log_)
   BOOST_CHECK ((hpp::pinocchio::log(e).isZero(1e-10)));
 }
 
-BOOST_AUTO_TEST_CASE (serialization)
+void test_serialization(LiegroupSpacePtr_t space)
 {
-  LiegroupSpacePtr_t R6xSO3 (LiegroupSpace::R3 () * LiegroupSpace::R3xSO3 ());
-  LiegroupElement e (R6xSO3); e.setNeutral ();
+  LiegroupElement e (space); e.setNeutral ();
 
   std::stringstream ss;
   {
@@ -311,3 +310,19 @@ BOOST_AUTO_TEST_CASE (serialization)
   BOOST_CHECK_EQUAL(*e.space(), *e2.space());
   BOOST_CHECK(e.vector() == e2.vector());
 }
+
+BOOST_AUTO_TEST_CASE (serialization)
+{
+  test_serialization(LiegroupSpace::R1());
+  test_serialization(LiegroupSpace::R2());
+  test_serialization(LiegroupSpace::R3());
+  test_serialization(LiegroupSpace::Rn(4));
+  test_serialization(LiegroupSpace::SO2());
+  test_serialization(LiegroupSpace::SO3());
+  test_serialization(LiegroupSpace::SE2());
+  test_serialization(LiegroupSpace::SE3());
+  test_serialization(LiegroupSpace::R2xSO2());
+  test_serialization(LiegroupSpace::R3xSO3());
+  test_serialization(LiegroupSpace::R3() * LiegroupSpace::R3xSO3());
+  test_serialization(LiegroupSpace::R3() * LiegroupSpace::R3xSO3());
+}