[contact-sequence] Edit serialization functions => Add test OK

include/multicontact-api/scenario/contact-phase.hpp

@@ -60,7 +60,7 @@ namespace multicontact_api
 
 
       /*Variables*/
-      std::vector<std::string> m_effector_names_;
+      std::vector<std::string> m_effector_names;
       ContactPatchMap m_contact_patches;
       std::pair<double,double> m_time_interval;
       ConfigurationVector m_reference_configuration;
@@ -186,12 +186,14 @@ namespace multicontact_api
 
     protected:
 
+      /*Attributes 2*/
       /// \brief Second Order Wrench Cone (SOWC) representing the Minkoski sum of the patch linear wrench cone.
       SOC6 m_sowc;
       SE3 m_sowc_placement;
       Matrix6x m_double_description;
       /// \brief Linear Wrench Cone (LWC) representing the Minkoski sum of the patch linear wrench cone.
       WrenchCone m_lwc;
+      /*Attributes 2*/
 
     private:
 
@@ -244,7 +246,7 @@ namespace multicontact_api
       template<class Archive>
       void save(Archive & ar, const unsigned int /*version*/) const
       {
-        ar & boost::serialization::make_nvp("effector_names",m_effector_names_);
+        ar & boost::serialization::make_nvp("effector_names",m_effector_names);
         ar & boost::serialization::make_nvp("contact_patches",m_contact_patches);
         ar & boost::serialization::make_nvp("time_interval",m_time_interval);
         ar & boost::serialization::make_nvp("reference_configuration",m_reference_configuration);
@@ -280,7 +282,7 @@ namespace multicontact_api
       template<class Archive>
       void load(Archive & ar, const unsigned int /*version*/)
       {
-        ar >> boost::serialization::make_nvp("effector_names",m_effector_names_);
+        ar >> boost::serialization::make_nvp("effector_names",m_effector_names);
         ar >> boost::serialization::make_nvp("contact_patches",m_contact_patches);
         ar >> boost::serialization::make_nvp("time_interval",m_time_interval);
         ar >> boost::serialization::make_nvp("reference_configuration",m_reference_configuration);

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

@@ -9,89 +9,112 @@
 #include "multicontact-api/scenario/ms-interval.hpp"
 
 #include "multicontact-api/serialization/archive.hpp"
+#include "multicontact-api/serialization/aligned-vector.hpp"
 
 #include <vector>
+#include <boost/serialization/vector.hpp>
 #include <Eigen/StdVector>
 #include <pinocchio/container/aligned-vector.hpp>
 
-namespace multicontact_api {
-namespace scenario {
 
-template <class _ContactPhase>
-struct ContactSequenceTpl : public serialization::Serializable<ContactSequenceTpl<_ContactPhase> > {
-  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
-  typedef _ContactPhase ContactPhase;
-  typedef typename ContactPhase::Scalar Scalar;
-
-  typedef typename ContactPhase::TimeVector TimeVector;
-  typedef typename ContactPhase::StateVector StateVector;
-  typedef typename ContactPhase::ConfigurationVector ConfigurationVector;
-
-  typedef MSIntervalDataTpl<TimeVector, StateVector, ConfigurationVector> MSIntervalData;
-  typedef pinocchio::container::aligned_vector<MSIntervalData> MSIntervalDataVector;
-
-  typedef pinocchio::container::aligned_vector<ContactPhase> ContactPhaseVector;
-  //      typedef std::vector<ContactPhase, Eigen::aligned_allocator<ContactPhase> > ContactPhaseVector;
-
-  ContactSequenceTpl(const size_t size = 0)
-      : m_contact_phases(size), m_ms_interval_data(0), m_conic_type(CONIC_UNDEFINED) {}
-
-  /// \brief Copy contructor
-  ContactSequenceTpl(const ContactSequenceTpl& other)
-      : m_contact_phases(other.m_contact_phases),
-        m_ms_interval_data(other.m_ms_interval_data),
-        m_conic_type(other.m_conic_type) {}
-
-  size_t size() const { return m_contact_phases.size(); }
-
-  //    protected:
-
-  ContactPhaseVector m_contact_phases;
-
-  bool operator==(const ContactSequenceTpl& other) const {
-    return m_contact_phases == other.m_contact_phases && m_ms_interval_data == other.m_ms_interval_data &&
-           m_conic_type == other.m_conic_type;
-  }
-
-  bool operator!=(const ContactSequenceTpl& other) const { return !(*this == other); }
-
-  void resize(const size_t size) { m_contact_phases.resize(size); }
-
-  MSIntervalDataVector m_ms_interval_data;
-
-  ConicType m_conic_type;
-
- private:
-  // Serialization of the class
-  friend class boost::serialization::access;
+namespace multicontact_api{
+namespace scenario  {
+
+  template<class _ContactPhase>
+  struct ContactSequenceTpl : public serialization::Serializable< ContactSequenceTpl<_ContactPhase> >
+  {
+    EIGEN_MAKE_ALIGNED_OPERATOR_NEW
+    typedef _ContactPhase ContactPhase;
+    typedef typename ContactPhase::Scalar Scalar;
+
+    typedef std::vector<Scalar> TimeVector;
+    typedef typename ContactPhase::StateVector StateVector;
+    typedef typename ContactPhase::ConfigurationVector ConfigurationVector;
+
+    typedef MSIntervalDataTpl<TimeVector,StateVector,ConfigurationVector> MSIntervalData;
+    typedef pinocchio::container::aligned_vector<MSIntervalData> MSIntervalDataVector;
+
+    typedef pinocchio::container::aligned_vector<ContactPhase> ContactPhaseVector;
+//      typedef std::vector<ContactPhase, Eigen::aligned_allocator<ContactPhase> > ContactPhaseVector;
+
+    ContactSequenceTpl(const size_t size = 0)
+    : m_contact_phases(size)
+    , m_ms_interval_data(0)
+    , m_conic_type(CONIC_UNDEFINED)
+    {}
+
+    /// \brief Copy contructor
+    ContactSequenceTpl(const ContactSequenceTpl & other)
+    : m_contact_phases(other.m_contact_phases)
+    , m_ms_interval_data(other.m_ms_interval_data)
+    , m_conic_type(other.m_conic_type)
+    {}
+
+    size_t size() const { return m_contact_phases.size(); }
+
+    bool operator==(const ContactSequenceTpl & other) const
+    {
+      return
+      m_contact_phases == other.m_contact_phases
+      && m_ms_interval_data == other.m_ms_interval_data
+      && m_conic_type == other.m_conic_type
+      ;
+    }
 
-  template <class Archive>
-  void save(Archive& ar, const unsigned int /*version*/) const {
-    const size_t m_size = size();
-    ar& boost::serialization::make_nvp("size", m_size);
-    for (typename ContactPhaseVector::const_iterator it = m_contact_phases.begin(); it != m_contact_phases.end(); ++it)
-      ar& boost::serialization::make_nvp("contact_phase", *it);
+    bool operator!=(const ContactSequenceTpl & other) const
+    { return !(*this == other); }
 
-    ar& boost::serialization::make_nvp("ms_interval_data", m_ms_interval_data);
-    ar& boost::serialization::make_nvp("conic_type", m_conic_type);
-  }
+    void resize(const size_t size)
+    {
+      m_contact_phases.resize(size);
+    }
 
-  template <class Archive>
-  void load(Archive& ar, const unsigned int /*version*/) {
-    size_t m_size;
-    ar >> boost::serialization::make_nvp("size", m_size);
-    assert(m_size > 0);
-    resize(m_size);
-    for (typename ContactPhaseVector::iterator it = m_contact_phases.begin(); it != m_contact_phases.end(); ++it) {
-      ar >> boost::serialization::make_nvp("contact_phase", *it);
+    /*Attributes*/
+    ContactPhaseVector m_contact_phases;
+    std::vector<std::string> m_effector_names;
+    MSIntervalDataVector m_ms_interval_data;
+    ConicType m_conic_type;
+    /*Attributes*/
+
+  private:
+
+    // Serialization of the class
+    friend class boost::serialization::access;
+
+    template<class Archive>
+    void save(Archive & ar, const unsigned int /*version*/) const
+    {
+      const size_t m_size = size();
+      ar & boost::serialization::make_nvp("size",m_size);
+      for(typename ContactPhaseVector::const_iterator it = m_contact_phases.begin();
+          it != m_contact_phases.end(); ++it)
+      {
+        ar & boost::serialization::make_nvp("contact_phase",*it);
+      }
+      ar & boost::serialization::make_nvp("m_effector_names",m_effector_names);
+      ar & boost::serialization::make_nvp("ms_interval_data",m_ms_interval_data);
+      ar & boost::serialization::make_nvp("conic_type",m_conic_type);
     }
 
-    ar >> boost::serialization::make_nvp("ms_interval_data", m_ms_interval_data);
-    ar >> boost::serialization::make_nvp("conic_type", m_conic_type);
-  }
+    template<class Archive>
+    void load(Archive & ar, const unsigned int /*version*/)
+    {
+      size_t m_size;
+      ar >> boost::serialization::make_nvp("size",m_size);
+      assert(m_size>0);
+      resize(m_size);
+      for(typename ContactPhaseVector::iterator it = m_contact_phases.begin();
+          it != m_contact_phases.end(); ++it)
+      {
+        ar >> boost::serialization::make_nvp("contact_phase",*it);
+      }
+      ar >> boost::serialization::make_nvp("m_effector_names",m_effector_names);
+      ar >> boost::serialization::make_nvp("ms_interval_data",m_ms_interval_data);
+      ar >> boost::serialization::make_nvp("conic_type",m_conic_type);
+    }
 
-  BOOST_SERIALIZATION_SPLIT_MEMBER()
-};
+    BOOST_SERIALIZATION_SPLIT_MEMBER()
+  };
 }  // namespace scenario
 }  // namespace multicontact_api
 

unittest/scenario.cpp

@@ -8,6 +8,7 @@
 #include <boost/utility/binary.hpp>
 
 #include "multicontact-api/scenario/contact-phase.hpp"
+#include "multicontact-api/scenario/contact-sequence.hpp"
 #include "multicontact-api/scenario/contact-patch.hpp"
 
 using namespace multicontact_api::scenario;
@@ -48,10 +49,8 @@ BOOST_AUTO_TEST_CASE(contact_patch) {
   cp.worldContactModelPlacement().setRandom();
   ContactPatch cp2(cp);
   ContactPatch cp3 = cp2;
-
   BOOST_CHECK(cp == cp);
   BOOST_CHECK(cp == cp2);
-
   Ad a1;
   Ad a2(a1);
 }
@@ -69,10 +68,8 @@ BOOST_AUTO_TEST_CASE(contact_phase)
     it->second.worldContactModelPlacement().setRandom();
   }
   ContactPhase4 cp2(cp);
-
   BOOST_CHECK(cp == cp);
   BOOST_CHECK(cp == cp2);
-  
   // test serialization
   cp.saveAsText("serialization_cp_test.test");
   cp_test.loadFromText("serialization_cp_test.test");
@@ -80,4 +77,17 @@ BOOST_AUTO_TEST_CASE(contact_phase)
   BOOST_CHECK(cp == cp_test);
 }
 
+BOOST_AUTO_TEST_CASE(contact_sequence)
+{
+  ContactPhase4 cp;
+  ContactSequence4 cs(1);
+  ContactSequence4 cs_test(0);
+  cs.m_contact_phases[0] = cp;
+  // test serialization
+  cs.saveAsText("serialization_cs_test.test");
+  cs_test.loadFromText("serialization_cs_test.test");
+  remove("serialization_cp_test.test");
+  BOOST_CHECK(cs == cs_test);
+}
+
 BOOST_AUTO_TEST_SUITE_END()