Verified Commit 3dd9e697 authored by Justin Carpentier's avatar Justin Carpentier
Browse files

serialization/joints: move content to a dedicated file

parent 97d4dec7
//
// Copyright (c) 2019 INRIA
//
#ifndef __pinocchio_serialization_joints_model_hpp__
#define __pinocchio_serialization_joints_model_hpp__
namespace pinocchio
{
template<typename Scalar, int Options, template<typename S, int O> class JointCollectionTpl>
struct Serialize< JointModelCompositeTpl<Scalar,Options,JointCollectionTpl> >
{
template<typename Archive>
static void run(Archive & ar,
JointModelCompositeTpl<Scalar,Options,JointCollectionTpl> & joint)
{
using boost::serialization::make_nvp;
ar & make_nvp("m_nq",joint.m_nq);
ar & make_nvp("m_nv",joint.m_nv);
ar & make_nvp("m_idx_q",joint.m_idx_q);
ar & make_nvp("m_nqs",joint.m_nqs);
ar & make_nvp("m_idx_v",joint.m_idx_v);
ar & make_nvp("m_nvs",joint.m_nvs);
ar & make_nvp("njoints",joint.njoints);
ar & make_nvp("joints",joint.joints);
ar & make_nvp("jointPlacements",joint.jointPlacements);
}
};
}
namespace boost
{
namespace serialization
{
// For some older version of gcc, we have to rely on an additional namespace
// to avoid ambiguous call to boost::serialization::serialize
namespace fix
{
template <class Archive, typename Derived>
void serialize(Archive & ar,
pinocchio::JointModelBase<Derived> & joint,
const unsigned int version)
{
split_free(ar, joint, version);
}
}
template<class Archive, typename Derived>
void save(Archive & ar,
const pinocchio::JointModelBase<Derived> & joint,
const unsigned int /*version*/)
{
const pinocchio::JointIndex i_id = joint.id();
const int i_q = joint.idx_q(), i_v = joint.idx_v();
ar & make_nvp("i_id",i_id);
ar & make_nvp("i_q",i_q);
ar & make_nvp("i_v",i_v);
}
template<class Archive, typename Derived>
void load(Archive & ar,
pinocchio::JointModelBase<Derived> & joint,
const unsigned int /*version*/)
{
pinocchio::JointIndex i_id;
int i_q, i_v;
ar & make_nvp("i_id",i_id);
ar & make_nvp("i_q",i_q);
ar & make_nvp("i_v",i_v);
joint.setIndexes(i_id,i_q,i_v);
}
template <class Archive, typename Scalar, int Options, int axis>
void serialize(Archive & ar,
pinocchio::JointModelRevoluteTpl<Scalar,Options,axis> & joint,
const unsigned int version)
{
typedef pinocchio::JointModelRevoluteTpl<Scalar,Options,axis> JointType;
// ar & make_nvp("base_class",base_object< pinocchio::JointModelBase<JointType> >(joint));
fix::serialize(ar,*static_cast<pinocchio::JointModelBase<JointType> *>(&joint),version);
}
template <class Archive, typename Scalar, int Options, int axis>
void serialize(Archive & ar,
pinocchio::JointModelRevoluteUnboundedTpl<Scalar,Options,axis> & joint,
const unsigned int version)
{
typedef pinocchio::JointModelRevoluteUnboundedTpl<Scalar,Options,axis> JointType;
// ar & make_nvp("base_class",base_object< pinocchio::JointModelBase<JointType> >(joint));
fix::serialize(ar,*static_cast<pinocchio::JointModelBase<JointType> *>(&joint),version);
}
template <class Archive, typename Scalar, int Options, int axis>
void serialize(Archive & ar,
pinocchio::JointModelPrismaticTpl<Scalar,Options,axis> & joint,
const unsigned int version)
{
typedef pinocchio::JointModelPrismaticTpl<Scalar,Options,axis> JointType;
// ar & make_nvp("base_class",base_object< pinocchio::JointModelBase<JointType> >(joint));
fix::serialize(ar,*static_cast<pinocchio::JointModelBase<JointType> *>(&joint),version);
}
template <class Archive, typename Scalar, int Options>
void serialize(Archive & ar,
pinocchio::JointModelFreeFlyerTpl<Scalar,Options> & joint,
const unsigned int version)
{
typedef pinocchio::JointModelFreeFlyerTpl<Scalar,Options> JointType;
// ar & make_nvp("base_class",base_object< pinocchio::JointModelBase<JointType> >(joint));
fix::serialize(ar,*static_cast<pinocchio::JointModelBase<JointType> *>(&joint),version);
}
template <class Archive, typename Scalar, int Options>
void serialize(Archive & ar,
pinocchio::JointModelPlanarTpl<Scalar,Options> & joint,
const unsigned int version)
{
typedef pinocchio::JointModelPlanarTpl<Scalar,Options> JointType;
// ar & make_nvp("base_class",base_object< pinocchio::JointModelBase<JointType> >(joint));
fix::serialize(ar,*static_cast<pinocchio::JointModelBase<JointType> *>(&joint),version);
}
template <class Archive, typename Scalar, int Options>
void serialize(Archive & ar,
pinocchio::JointModelSphericalTpl<Scalar,Options> & joint,
const unsigned int version)
{
typedef pinocchio::JointModelSphericalTpl<Scalar,Options> JointType;
// ar & make_nvp("base_class",base_object< pinocchio::JointModelBase<JointType> >(joint));
fix::serialize(ar,*static_cast<pinocchio::JointModelBase<JointType> *>(&joint),version);
}
template <class Archive, typename Scalar, int Options>
void serialize(Archive & ar,
pinocchio::JointModelSphericalZYXTpl<Scalar,Options> & joint,
const unsigned int version)
{
typedef pinocchio::JointModelSphericalZYXTpl<Scalar,Options> JointType;
// ar & make_nvp("base_class",base_object< pinocchio::JointModelBase<JointType> >(joint));
fix::serialize(ar,*static_cast<pinocchio::JointModelBase<JointType> *>(&joint),version);
}
template <class Archive, typename Scalar, int Options>
void serialize(Archive & ar,
pinocchio::JointModelTranslationTpl<Scalar,Options> & joint,
const unsigned int version)
{
typedef pinocchio::JointModelTranslationTpl<Scalar,Options> JointType;
// ar & make_nvp("base_class",base_object< pinocchio::JointModelBase<JointType> >(joint));
fix::serialize(ar,*static_cast<pinocchio::JointModelBase<JointType> *>(&joint),version);
}
template <class Archive, typename Scalar, int Options>
void serialize(Archive & ar,
pinocchio::JointModelRevoluteUnalignedTpl<Scalar,Options> & joint,
const unsigned int version)
{
typedef pinocchio::JointModelRevoluteUnalignedTpl<Scalar,Options> JointType;
// ar & make_nvp("base_class",base_object< pinocchio::JointModelBase<JointType> >(joint));
fix::serialize(ar,*static_cast<pinocchio::JointModelBase<JointType> *>(&joint),version);
ar & make_nvp("axis",joint.axis);
}
template <class Archive, typename Scalar, int Options>
void serialize(Archive & ar,
pinocchio::JointModelRevoluteUnboundedUnalignedTpl<Scalar,Options> & joint,
const unsigned int version)
{
typedef pinocchio::JointModelRevoluteUnboundedUnalignedTpl<Scalar,Options> JointType;
// ar & make_nvp("base_class",base_object< pinocchio::JointModelBase<JointType> >(joint));
fix::serialize(ar,*static_cast<pinocchio::JointModelBase<JointType> *>(&joint),version);
ar & make_nvp("axis",joint.axis);
}
template <class Archive, typename Scalar, int Options>
void serialize(Archive & ar,
pinocchio::JointModelPrismaticUnalignedTpl<Scalar,Options> & joint,
const unsigned int version)
{
typedef pinocchio::JointModelPrismaticUnalignedTpl<Scalar,Options> JointType;
// ar & make_nvp("base_class",base_object< pinocchio::JointModelBase<JointType> >(joint));
fix::serialize(ar,*static_cast<pinocchio::JointModelBase<JointType> *>(&joint),version);
ar & make_nvp("axis",joint.axis);
}
template <class Archive, typename Scalar, int Options, template<typename S, int O> class JointCollectionTpl>
void serialize(Archive & ar,
pinocchio::JointModelCompositeTpl<Scalar,Options,JointCollectionTpl> & joint,
const unsigned int version)
{
typedef pinocchio::JointModelCompositeTpl<Scalar,Options,JointCollectionTpl> JointType;
// ar & make_nvp("base_class",base_object< pinocchio::JointModelBase<JointType> >(joint));
fix::serialize(ar,*static_cast<pinocchio::JointModelBase<JointType> *>(&joint),version);
::pinocchio::Serialize<JointType>::run(ar,joint);
}
template <class Archive, typename Scalar, int Options, template<typename S, int O> class JointCollectionTpl>
void serialize(Archive & ar,
pinocchio::JointModelTpl<Scalar,Options,JointCollectionTpl> & joint,
const unsigned int version)
{
typedef pinocchio::JointModelTpl<Scalar,Options,JointCollectionTpl> JointType;
// ar & make_nvp("base_class",base_object< pinocchio::JointModelBase<JointType> >(joint));
fix::serialize(ar,*static_cast<pinocchio::JointModelBase<JointType> *>(&joint),version);
typedef typename JointCollectionTpl<Scalar,Options>::JointModelVariant JointModelVariant;
ar & make_nvp("base_variant",base_object<JointModelVariant>(joint));
}
template <class Archive, typename JointModel>
void serialize(Archive & ar,
pinocchio::JointModelMimic<JointModel> & joint,
const unsigned int version)
{
typedef pinocchio::JointModelMimic<JointModel> JointType;
// ar & make_nvp("base_class",base_object< pinocchio::JointModelBase<JointType> >(joint));
fix::serialize(ar,*static_cast<pinocchio::JointModelBase<JointType> *>(&joint),version);
ar & make_nvp("jmodel",joint.jmodel());
ar & make_nvp("scaling",joint.scaling());
ar & make_nvp("offset",joint.offset());
}
}
}
#endif // ifndef __pinocchio_serialization_joints_model_hpp__
......@@ -18,230 +18,6 @@
#include <boost/serialization/split_free.hpp>
#include <boost/serialization/variant.hpp>
namespace pinocchio
{
template<typename Scalar, int Options, template<typename S, int O> class JointCollectionTpl>
struct Serialize< JointModelCompositeTpl<Scalar,Options,JointCollectionTpl> >
{
template<typename Archive>
static void run(Archive & ar,
JointModelCompositeTpl<Scalar,Options,JointCollectionTpl> & joint)
{
using boost::serialization::make_nvp;
ar & make_nvp("m_nq",joint.m_nq);
ar & make_nvp("m_nv",joint.m_nv);
ar & make_nvp("m_idx_q",joint.m_idx_q);
ar & make_nvp("m_nqs",joint.m_nqs);
ar & make_nvp("m_idx_v",joint.m_idx_v);
ar & make_nvp("m_nvs",joint.m_nvs);
ar & make_nvp("njoints",joint.njoints);
ar & make_nvp("joints",joint.joints);
ar & make_nvp("jointPlacements",joint.jointPlacements);
}
};
}
namespace boost
{
namespace serialization
{
// For some older version of gcc, we have to rely on an additional namespace
// to avoid ambiguous call to boost::serialization::serialize
namespace fix
{
template <class Archive, typename Derived>
void serialize(Archive & ar,
pinocchio::JointModelBase<Derived> & joint,
const unsigned int version)
{
split_free(ar, joint, version);
}
}
template<class Archive, typename Derived>
void save(Archive & ar,
const pinocchio::JointModelBase<Derived> & joint,
const unsigned int /*version*/)
{
const pinocchio::JointIndex i_id = joint.id();
const int i_q = joint.idx_q(), i_v = joint.idx_v();
ar & make_nvp("i_id",i_id);
ar & make_nvp("i_q",i_q);
ar & make_nvp("i_v",i_v);
}
template<class Archive, typename Derived>
void load(Archive & ar,
pinocchio::JointModelBase<Derived> & joint,
const unsigned int /*version*/)
{
pinocchio::JointIndex i_id;
int i_q, i_v;
ar & make_nvp("i_id",i_id);
ar & make_nvp("i_q",i_q);
ar & make_nvp("i_v",i_v);
joint.setIndexes(i_id,i_q,i_v);
}
template <class Archive, typename Scalar, int Options, int axis>
void serialize(Archive & ar,
pinocchio::JointModelRevoluteTpl<Scalar,Options,axis> & joint,
const unsigned int version)
{
typedef pinocchio::JointModelRevoluteTpl<Scalar,Options,axis> JointType;
// ar & make_nvp("base_class",base_object< pinocchio::JointModelBase<JointType> >(joint));
fix::serialize(ar,*static_cast<pinocchio::JointModelBase<JointType> *>(&joint),version);
}
template <class Archive, typename Scalar, int Options, int axis>
void serialize(Archive & ar,
pinocchio::JointModelRevoluteUnboundedTpl<Scalar,Options,axis> & joint,
const unsigned int version)
{
typedef pinocchio::JointModelRevoluteUnboundedTpl<Scalar,Options,axis> JointType;
// ar & make_nvp("base_class",base_object< pinocchio::JointModelBase<JointType> >(joint));
fix::serialize(ar,*static_cast<pinocchio::JointModelBase<JointType> *>(&joint),version);
}
template <class Archive, typename Scalar, int Options, int axis>
void serialize(Archive & ar,
pinocchio::JointModelPrismaticTpl<Scalar,Options,axis> & joint,
const unsigned int version)
{
typedef pinocchio::JointModelPrismaticTpl<Scalar,Options,axis> JointType;
// ar & make_nvp("base_class",base_object< pinocchio::JointModelBase<JointType> >(joint));
fix::serialize(ar,*static_cast<pinocchio::JointModelBase<JointType> *>(&joint),version);
}
template <class Archive, typename Scalar, int Options>
void serialize(Archive & ar,
pinocchio::JointModelFreeFlyerTpl<Scalar,Options> & joint,
const unsigned int version)
{
typedef pinocchio::JointModelFreeFlyerTpl<Scalar,Options> JointType;
// ar & make_nvp("base_class",base_object< pinocchio::JointModelBase<JointType> >(joint));
fix::serialize(ar,*static_cast<pinocchio::JointModelBase<JointType> *>(&joint),version);
}
template <class Archive, typename Scalar, int Options>
void serialize(Archive & ar,
pinocchio::JointModelPlanarTpl<Scalar,Options> & joint,
const unsigned int version)
{
typedef pinocchio::JointModelPlanarTpl<Scalar,Options> JointType;
// ar & make_nvp("base_class",base_object< pinocchio::JointModelBase<JointType> >(joint));
fix::serialize(ar,*static_cast<pinocchio::JointModelBase<JointType> *>(&joint),version);
}
template <class Archive, typename Scalar, int Options>
void serialize(Archive & ar,
pinocchio::JointModelSphericalTpl<Scalar,Options> & joint,
const unsigned int version)
{
typedef pinocchio::JointModelSphericalTpl<Scalar,Options> JointType;
// ar & make_nvp("base_class",base_object< pinocchio::JointModelBase<JointType> >(joint));
fix::serialize(ar,*static_cast<pinocchio::JointModelBase<JointType> *>(&joint),version);
}
template <class Archive, typename Scalar, int Options>
void serialize(Archive & ar,
pinocchio::JointModelSphericalZYXTpl<Scalar,Options> & joint,
const unsigned int version)
{
typedef pinocchio::JointModelSphericalZYXTpl<Scalar,Options> JointType;
// ar & make_nvp("base_class",base_object< pinocchio::JointModelBase<JointType> >(joint));
fix::serialize(ar,*static_cast<pinocchio::JointModelBase<JointType> *>(&joint),version);
}
template <class Archive, typename Scalar, int Options>
void serialize(Archive & ar,
pinocchio::JointModelTranslationTpl<Scalar,Options> & joint,
const unsigned int version)
{
typedef pinocchio::JointModelTranslationTpl<Scalar,Options> JointType;
// ar & make_nvp("base_class",base_object< pinocchio::JointModelBase<JointType> >(joint));
fix::serialize(ar,*static_cast<pinocchio::JointModelBase<JointType> *>(&joint),version);
}
template <class Archive, typename Scalar, int Options>
void serialize(Archive & ar,
pinocchio::JointModelRevoluteUnalignedTpl<Scalar,Options> & joint,
const unsigned int version)
{
typedef pinocchio::JointModelRevoluteUnalignedTpl<Scalar,Options> JointType;
// ar & make_nvp("base_class",base_object< pinocchio::JointModelBase<JointType> >(joint));
fix::serialize(ar,*static_cast<pinocchio::JointModelBase<JointType> *>(&joint),version);
ar & make_nvp("axis",joint.axis);
}
template <class Archive, typename Scalar, int Options>
void serialize(Archive & ar,
pinocchio::JointModelRevoluteUnboundedUnalignedTpl<Scalar,Options> & joint,
const unsigned int version)
{
typedef pinocchio::JointModelRevoluteUnboundedUnalignedTpl<Scalar,Options> JointType;
// ar & make_nvp("base_class",base_object< pinocchio::JointModelBase<JointType> >(joint));
fix::serialize(ar,*static_cast<pinocchio::JointModelBase<JointType> *>(&joint),version);
ar & make_nvp("axis",joint.axis);
}
template <class Archive, typename Scalar, int Options>
void serialize(Archive & ar,
pinocchio::JointModelPrismaticUnalignedTpl<Scalar,Options> & joint,
const unsigned int version)
{
typedef pinocchio::JointModelPrismaticUnalignedTpl<Scalar,Options> JointType;
// ar & make_nvp("base_class",base_object< pinocchio::JointModelBase<JointType> >(joint));
fix::serialize(ar,*static_cast<pinocchio::JointModelBase<JointType> *>(&joint),version);
ar & make_nvp("axis",joint.axis);
}
template <class Archive, typename Scalar, int Options, template<typename S, int O> class JointCollectionTpl>
void serialize(Archive & ar,
pinocchio::JointModelCompositeTpl<Scalar,Options,JointCollectionTpl> & joint,
const unsigned int version)
{
typedef pinocchio::JointModelCompositeTpl<Scalar,Options,JointCollectionTpl> JointType;
// ar & make_nvp("base_class",base_object< pinocchio::JointModelBase<JointType> >(joint));
fix::serialize(ar,*static_cast<pinocchio::JointModelBase<JointType> *>(&joint),version);
::pinocchio::Serialize<JointType>::run(ar,joint);
}
template <class Archive, typename Scalar, int Options, template<typename S, int O> class JointCollectionTpl>
void serialize(Archive & ar,
pinocchio::JointModelTpl<Scalar,Options,JointCollectionTpl> & joint,
const unsigned int version)
{
typedef pinocchio::JointModelTpl<Scalar,Options,JointCollectionTpl> JointType;
// ar & make_nvp("base_class",base_object< pinocchio::JointModelBase<JointType> >(joint));
fix::serialize(ar,*static_cast<pinocchio::JointModelBase<JointType> *>(&joint),version);
typedef typename JointCollectionTpl<Scalar,Options>::JointModelVariant JointModelVariant;
ar & make_nvp("base_variant",base_object<JointModelVariant>(joint));
}
template <class Archive, typename JointModel>
void serialize(Archive & ar,
pinocchio::JointModelMimic<JointModel> & joint,
const unsigned int version)
{
typedef pinocchio::JointModelMimic<JointModel> JointType;
// ar & make_nvp("base_class",base_object< pinocchio::JointModelBase<JointType> >(joint));
fix::serialize(ar,*static_cast<pinocchio::JointModelBase<JointType> *>(&joint),version);
ar & make_nvp("jmodel",joint.jmodel());
ar & make_nvp("scaling",joint.scaling());
ar & make_nvp("offset",joint.offset());
}
}
}
#include "pinocchio/serialization/joints-model.hpp"
#endif // ifndef __pinocchio_serialization_joints_hpp__
Markdown is supported
0% or .
You are about to add 0 people to the discussion. Proceed with caution.
Finish editing this message first!
Please register or to comment