[Python] factorize pickle code for all classes

include/multicontact-api/bindings/python/scenario/contact-sequence.hpp

@@ -229,8 +229,7 @@ struct ContactSequencePythonVisitor : public bp::def_visitor<ContactSequencePyth
              "if t equal to the last phase timeFinal, this index is returned.")
         .def(bp::self == bp::self)
         .def(bp::self != bp::self)
-        .def("copy", &copy, "Returns a copy of *this.")
-        .def_pickle(cs_pickle_suite());
+        .def("copy", &copy, "Returns a copy of *this.");
   }
 
   static void expose(const std::string& class_name) {
@@ -262,24 +261,6 @@ struct ContactSequencePythonVisitor : public bp::def_visitor<ContactSequencePyth
     return toPythonList<std::string>(self.getAllEffectorsInContact());
   }
 
-  struct cs_pickle_suite : bp::pickle_suite {
-
-      static bp::object getstate (const CS& cs) {
-          std::ostringstream os;
-          boost::archive::text_oarchive oa(os);
-          oa << cs;
-          return bp::str(os.str());
-      }
-
-      static void
-      setstate(CS& cs, bp::object entries) {
-          bp::str s = bp::extract<bp::str> (entries)();
-          std::string st = bp::extract<std::string> (s)();
-          std::istringstream is (st);
-          boost::archive::text_iarchive ia (is);
-          ia >> cs;
-      }
-  };
 };
 }  // namespace python
 }  // namespace multicontact_api

include/multicontact-api/bindings/python/serialization/archive.hpp

@@ -11,6 +11,26 @@ namespace python {
 
 namespace bp = boost::python;
 
+template <typename Derived>
+struct cs_pickle_suite : bp::pickle_suite {
+
+    static bp::object getstate (const Derived& cs) {
+        std::ostringstream os;
+        boost::archive::text_oarchive oa(os);
+        oa << cs;
+        return bp::str(os.str());
+    }
+
+    static void
+    setstate(Derived& cs, bp::object entries) {
+        bp::str s = bp::extract<bp::str> (entries)();
+        std::string st = bp::extract<std::string> (s)();
+        std::istringstream is (st);
+        boost::archive::text_iarchive ia (is);
+        ia >> cs;
+    }
+};
+
 template <typename Derived>
 struct SerializableVisitor : public boost::python::def_visitor<SerializableVisitor<Derived> > {
   template <class PyClass>
@@ -20,7 +40,8 @@ struct SerializableVisitor : public boost::python::def_visitor<SerializableVisit
         .def("saveAsXML", &Derived::saveAsXML, bp::args("filename", "tag_name"), "Saves *this inside a XML file.")
         .def("loadFromXML", &Derived::loadFromXML, bp::args("filename", "tag_name"), "Loads *this from a XML file.")
         .def("saveAsBinary", &Derived::saveAsBinary, bp::args("filename"), "Saves *this inside a binary file.")
-        .def("loadFromBinary", &Derived::loadFromBinary, bp::args("filename"), "Loads *this from a binary file.");
+        .def("loadFromBinary", &Derived::loadFromBinary, bp::args("filename"), "Loads *this from a binary file.")
+        .def_pickle(cs_pickle_suite<Derived>());
   }
 };
 }  // namespace python