Add missing hpp/pinocchio/serialization.hh + test array serialization.

include/hpp/pinocchio/serialization.hh

+//
+// Copyright (c) 2020 CNRS
+// Author: Joseph Mirabel
+//
+// This file is part of hpp-pinocchio
+// hpp-pinocchio is free software: you can redistribute it
+// and/or modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation, either version
+// 3 of the License, or (at your option) any later version.
+//
+// hpp-pinocchio is distributed in the hope that it will be
+// useful, but WITHOUT ANY WARRANTY; without even the implied warranty
+// of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+// General Lesser Public License for more details.  You should have
+// received a copy of the GNU Lesser General Public License along with
+// hpp-pinocchio  If not, see
+// <http://www.gnu.org/licenses/>.
+
+#ifndef HPP_PINOCCHIO_SERIALIZATION_HH
+# define HPP_PINOCCHIO_SERIALIZATION_HH
+
+# include <boost/serialization/split_free.hpp>
+# include <boost/serialization/shared_ptr.hpp>
+# include <boost/serialization/weak_ptr.hpp>
+
+# include <hpp/pinocchio/fwd.hh>
+
+namespace hpp {
+namespace serialization {
+struct archive_device_wrapper {
+  pinocchio::DevicePtr_t device;
+  virtual ~archive_device_wrapper() {}
+};
+} // namespace pinocchio
+} // namespace hpp
+
+
+BOOST_SERIALIZATION_SPLIT_FREE(hpp::pinocchio::DevicePtr_t)
+BOOST_SERIALIZATION_SPLIT_FREE(hpp::pinocchio::DeviceWkPtr_t)
+
+namespace boost {
+namespace serialization {
+template<class Archive>
+inline void load (Archive& ar, hpp::pinocchio::DevicePtr_t& d, const unsigned int version)
+{
+  load<Archive, hpp::pinocchio::Device> (ar, d, version);
+  using hpp::serialization::archive_device_wrapper;
+  archive_device_wrapper* adw = dynamic_cast<archive_device_wrapper*>(&ar);
+  if (adw) d = adw->device;
+}
+template<class Archive>
+inline void load (Archive& ar, hpp::pinocchio::DeviceWkPtr_t& d, const unsigned int version)
+{
+  load<Archive, hpp::pinocchio::Device> (ar, d, version);
+  using hpp::serialization::archive_device_wrapper;
+  archive_device_wrapper* adw = dynamic_cast<archive_device_wrapper*>(&ar);
+  if (adw) d = adw->device;
+}
+template<class Archive>
+inline void load (Archive& ar, hpp::pinocchio::HumanoidRobotPtr_t& d, const unsigned int version)
+{
+  load<Archive, hpp::pinocchio::HumanoidRobot> (ar, d, version);
+  using hpp::serialization::archive_device_wrapper;
+  archive_device_wrapper* adw = dynamic_cast<archive_device_wrapper*>(&ar);
+  if (adw) d = boost::dynamic_pointer_cast<hpp::pinocchio::HumanoidRobot>(adw->device);
+}
+template<class Archive>
+inline void load (Archive& ar, hpp::pinocchio::HumanoidRobotWkPtr_t& d, const unsigned int version)
+{
+  load<Archive, hpp::pinocchio::HumanoidRobot> (ar, d, version);
+  using hpp::serialization::archive_device_wrapper;
+  archive_device_wrapper* adw = dynamic_cast<archive_device_wrapper*>(&ar);
+  if (adw) d = boost::dynamic_pointer_cast<hpp::pinocchio::HumanoidRobot>(adw->device);
+}
+
+template <class Archive, typename _Scalar, int _Rows, int _Cols, int _Options, int _MaxRows, int _MaxCols>
+inline void serialize(Archive & ar, Eigen::Array<_Scalar,_Rows,_Cols,_Options,_MaxRows,_MaxCols> & m, const unsigned int version)
+{
+  (void) version;
+  Eigen::DenseIndex rows(m.rows()), cols(m.cols());
+  ar & BOOST_SERIALIZATION_NVP(rows);
+  ar & BOOST_SERIALIZATION_NVP(cols);
+  if (!Archive::is_saving::value)
+    m.resize(rows,cols);
+  if(m.size() > 0)
+    ar & make_nvp("data",make_array(m.data(), (size_t)m.size()));
+}
+
+} // namespace serialization
+} // namespace boost
+
+#endif // HPP_PINOCCHIO_SERIALIZATION_HH

tests/CMakeLists.txt

@@ -51,6 +51,7 @@ ADD_TESTCASE(urdf)
 ADD_TESTCASE(liegroup-element)
 ADD_TESTCASE(print)
 ADD_TESTCASE(joint-bounds)
+ADD_TESTCASE(serialization)
 
 FIND_PACKAGE(OpenMP)
 IF(OPENMP_FOUND)

tests/serialization.cc

+// Copyright (c) 2020, Joseph Mirabel
+// Authors: Joseph Mirabel (joseph.mirabel@laas.fr)
+//
+// This file is part of hpp-pinocchio.
+// hpp-pinocchio is free software: you can redistribute it
+// and/or modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation, either version
+// 3 of the License, or (at your option) any later version.
+//
+// hpp-pinocchio is distributed in the hope that it will be
+// useful, but WITHOUT ANY WARRANTY; without even the implied warranty
+// of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+// General Lesser Public License for more details.  You should have
+// received a copy of the GNU Lesser General Public License along with
+// hpp-pinocchio. If not, see <http://www.gnu.org/licenses/>.
+
+#define BOOST_TEST_MODULE tserialization
+
+#include <boost/test/unit_test.hpp>
+
+#include <sstream>
+#include <fstream>
+#include <boost/archive/polymorphic_xml_iarchive.hpp>
+#include <boost/archive/polymorphic_xml_oarchive.hpp>
+
+#include <pinocchio/fwd.hpp>
+#include <hpp/pinocchio/fwd.hh>
+
+#include <hpp/pinocchio/serialization.hh>
+
+using namespace hpp::pinocchio;
+
+BOOST_AUTO_TEST_CASE(empty_array)
+{
+  Eigen::ArrayXi empty(0);
+
+  std::stringstream ss;
+  {
+    boost::archive::xml_oarchive oa(ss);
+    oa << boost::serialization::make_nvp("array", empty);
+  }
+
+  Eigen::ArrayXi empty_r;
+  {
+    boost::archive::xml_iarchive ia(ss);
+    ia >> boost::serialization::make_nvp("array", empty_r);
+  }
+
+  BOOST_CHECK_EQUAL(empty_r.size(), 0);
+}