serialization: add serialization of Eigen::Tensor

src/serialization/eigen.hpp

@@ -82,6 +82,34 @@ namespace boost
     {
       split_free(ar,a,version);
     }
+  
+    template <class Archive, typename _Scalar, int _NumIndices, int _Options, typename _IndexType>
+    void save(Archive & ar, const ::pinocchio::Tensor<_Scalar,_NumIndices,_Options,_IndexType> & t, const unsigned int /*version*/)
+    {
+      typedef ::pinocchio::Tensor<_Scalar,_NumIndices,_Options,_IndexType> Tensor;
+      const typename Tensor::Dimensions & dimensions = t.dimensions();
+      
+      ar & BOOST_SERIALIZATION_NVP(dimensions);
+      ar & make_nvp("data",make_array(t.data(), (size_t)t.size()));
+    }
+    
+    template <class Archive, typename _Scalar, int _NumIndices, int _Options, typename _IndexType>
+    void load(Archive & ar, ::pinocchio::Tensor<_Scalar,_NumIndices,_Options,_IndexType> & t, const unsigned int /*version*/)
+    {
+      typedef ::pinocchio::Tensor<_Scalar,_NumIndices,_Options,_IndexType> Tensor;
+      typename Tensor::Dimensions dimensions;
+      
+      ar >> BOOST_SERIALIZATION_NVP(dimensions);
+      t.resize(dimensions);
+      
+      ar >> make_nvp("data",make_array(t.data(), (size_t)t.size()));
+    }
+    
+    template <class Archive, typename _Scalar, int _NumIndices, int _Options, typename _IndexType>
+    void serialize(Archive & ar, ::pinocchio::Tensor<_Scalar,_NumIndices,_Options,_IndexType> & t, const unsigned int version)
+    {
+      split_free(ar,t,version);
+    }
     
   }
 }

unittest/serialization.cpp

@@ -106,7 +106,17 @@ BOOST_AUTO_TEST_CASE(test_eigen_serialization)
   generic_test(Vec,TEST_SERIALIZATION_FOLDER"/eigen_vector","vector");
   
   Eigen::array<Eigen::DenseIndex,array_size> array = { 1, 2, 3 };
-  generic_test(array,TEST_SERIALIZATION_FOLDER"/eigen_array","ar");
+  generic_test(array,TEST_SERIALIZATION_FOLDER"/eigen_array","array");
+  
+  const Eigen::DenseIndex tensor_size = 3;
+  const Eigen::DenseIndex x_dim = 10, y_dim = 20, z_dim = 30;
+  
+  typedef pinocchio::Tensor<double,tensor_size> Tensor3x;
+  Tensor3x tensor(x_dim,y_dim,z_dim);
+  
+  Eigen::Map<Eigen::VectorXd>(tensor.data(),tensor.size(),1).setRandom();
+  
+  generic_test(tensor,TEST_SERIALIZATION_FOLDER"/eigen_tensor","tensor");
 }
 
 BOOST_AUTO_TEST_CASE(test_spatial_serialization)
@@ -313,7 +323,6 @@ BOOST_AUTO_TEST_CASE(test_throw_extension)
                         std::invalid_argument);
   }
   
-  
 }
 
 BOOST_AUTO_TEST_SUITE_END()