[Tests] add test case for serialization of contactModel

include/multicontact-api/scenario/contact-model-planar.hpp

-// Copyright (c) 2015-2018, CNRS
-// Authors: Justin Carpentier <jcarpent@laas.fr>
-
-#ifndef __multicontact_api_scenario_contact_model_planar_hpp__
-#define __multicontact_api_scenario_contact_model_planar_hpp__
-
-#include "multicontact-api/scenario/fwd.hpp"
-#include "multicontact-api/serialization/archive.hpp"
-
-#include <iostream>
-#include <Eigen/Dense>
-
-namespace multicontact_api {
-namespace scenario {
-
-template <typename _Scalar>
-struct ContactModelPlanarTpl : public serialization::Serializable<ContactModelPlanarTpl<_Scalar> > {
-  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
-
-  typedef _Scalar Scalar;
-
-  /// \brief Default constructor.
-  ContactModelPlanarTpl() : m_mu(-1.), m_ZMP_radius(-1.) {}
-
-  /// \brief Default constructor.
-  ContactModelPlanarTpl(const Scalar mu, const Scalar ZMP_radius) : m_mu(mu), m_ZMP_radius(ZMP_radius) {}
-
-  /// \brief Copy constructor
-  template <typename S2>
-  explicit ContactModelPlanarTpl(const ContactModelPlanarTpl<S2>& other)
-      : m_mu(other.mu), m_ZMP_radius(other.ZMP_radius) {}
-
-  template <typename S2>
-  bool operator==(const ContactModelPlanarTpl<S2>& other) const {
-    return m_mu == other.m_mu && m_ZMP_radius == other.m_ZMP_radius;
-  }
-
-  template <typename S2>
-  bool operator!=(const ContactModelPlanarTpl<S2>& other) const {
-    return !(*this == other);
-  }
-
-  void disp(std::ostream& os) const {
-    os << "mu: " << m_mu << std::endl << "ZMP radius: " << m_ZMP_radius << std::endl;
-  }
-
-  template <typename S2>
-  friend std::ostream& operator<<(std::ostream& os, const ContactModelPlanarTpl<S2>& cp) {
-    cp.disp(os);
-    return os;
-  }
-
-  /// \brief Friction coefficient.
-  Scalar m_mu;
-  /// \brief ZMP radius.
-  Scalar m_ZMP_radius;
-
- private:
-  // Serialization of the class
-  friend class boost::serialization::access;
-
-  template <class Archive>
-  void save(Archive& ar, const unsigned int /*version*/) const {
-    ar& boost::serialization::make_nvp("mu", m_mu);
-    ar& boost::serialization::make_nvp("ZMP_radius", m_ZMP_radius);
-  }
-
-  template <class Archive>
-  void load(Archive& ar, const unsigned int /*version*/) {
-    ar >> boost::serialization::make_nvp("mu", m_mu);
-    ar >> boost::serialization::make_nvp("ZMP_radius", m_ZMP_radius);
-  }
-
-  BOOST_SERIALIZATION_SPLIT_MEMBER()
-};
-}  // namespace scenario
-}  // namespace multicontact_api
-
-#endif  // ifndef __multicontact_api_scenario_contact_model_planar_hpp__

unittest/scenario.cpp

@@ -351,8 +351,29 @@ BOOST_AUTO_TEST_CASE(contact_model) {
   BOOST_CHECK(mp1 == mp2);
   mp1.m_mu = 0.5;
   BOOST_CHECK(mp1 != mp2);
-
-  // TODO : check serialization
+  ContactModelPlanar mp3(mp1);
+  BOOST_CHECK(mp1 == mp3);
+  mp3.m_ZMP_radius = 0.5;
+  BOOST_CHECK(mp1 != mp3);
+
+  std::cout<<"ContactModel Planar before serialization : \n "<<mp1<<std::endl;
+
+  std::string fileName("fileTest_contactModel");
+  mp1.saveAsText(fileName + ".txt");
+  ContactModelPlanar mp_from_text;
+  mp_from_text.loadFromText(fileName + ".txt");
+  std::cout<<"ContactModel Planar after serialization : \n "<<mp_from_text<<std::endl;
+  BOOST_CHECK(mp1 == mp_from_text);
+
+  mp1.saveAsXML(fileName + ".xml", "ContactModel");
+  ContactModelPlanar mp_from_xml;
+  mp_from_xml.loadFromXML(fileName + ".xml", "ContactModel");
+  BOOST_CHECK(mp1 == mp_from_xml);
+
+  mp1.saveAsBinary(fileName);
+  ContactModelPlanar mp_from_bin;
+  mp_from_bin.loadFromBinary(fileName);
+  BOOST_CHECK(mp1 == mp_from_bin);
 }
 
 BOOST_AUTO_TEST_CASE(contact_patch) {