serialization: serialize Eigen::array

src/serialization/eigen.hpp

@@ -25,11 +25,12 @@
  THE SOFTWARE.
  */
 
-
 #ifndef __pinocchio_serialization_eigen_matrix_hpp__
 #define __pinocchio_serialization_eigen_matrix_hpp__
 
 #include <Eigen/Dense>
+#include "pinocchio/math/tensor.hpp"
+
 #include <boost/serialization/split_free.hpp>
 #include <boost/serialization/vector.hpp>
 
@@ -63,6 +64,24 @@ namespace boost
     {
       split_free(ar,m,version);
     }
+  
+    template <class Archive, typename _IndexType, std::size_t _NumIndices>
+    void save(Archive & ar, const Eigen::array<_IndexType,_NumIndices> & a, const unsigned int /*version*/)
+    {
+      ar & make_nvp("array",make_array(&a.front(),_NumIndices));
+    }
+  
+    template <class Archive, typename _IndexType, std::size_t _NumIndices>
+    void load(Archive & ar, Eigen::array<_IndexType,_NumIndices> & a, const unsigned int /*version*/)
+    {
+      ar >> make_nvp("array",make_array(&a.front(),_NumIndices));
+    }
+  
+    template <class Archive, typename _IndexType, std::size_t _NumIndices>
+    void serialize(Archive & ar, Eigen::array<_IndexType,_NumIndices> & a, const unsigned int version)
+    {
+      split_free(ar,a,version);
+    }
     
   }
 }

unittest/serialization.cpp

@@ -104,6 +104,9 @@ BOOST_AUTO_TEST_CASE(test_eigen_serialization)
   
   Eigen::VectorXd Vec = Eigen::VectorXd::Random(num_rows*num_cols);
   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");
 }
 
 BOOST_AUTO_TEST_CASE(test_spatial_serialization)