// Copyright (c) 2020, Joseph Mirabel
// Authors: Joseph Mirabel (joseph.mirabel@laas.fr)
//

// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions are
// met:
//
// 1. Redistributions of source code must retain the above copyright
//    notice, this list of conditions and the following disclaimer.
//
// 2. Redistributions in binary form must reproduce the above copyright
// notice, this list of conditions and the following disclaimer in the
// documentation and/or other materials provided with the distribution.
//
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
// "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
// LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
// A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
// HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
// SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
// LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
// DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
// THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH
// DAMAGE.

#include <hpp/constraints/affine-function.hh>
#include <hpp/pinocchio/liegroup-element.hh>
#include <hpp/util/serialization.hh>
#include <pinocchio/serialization/eigen.hpp>

namespace hpp {
namespace constraints {
using namespace boost::serialization;

template <class Archive>
void Identity::serialize(Archive& ar, const unsigned int version) {
  (void)version;
  ar& make_nvp("base", base_object<DifferentiableFunction>(*this));
}

HPP_SERIALIZATION_IMPLEMENT(Identity);

template <class Archive>
void AffineFunction::serialize(Archive& ar, const unsigned int version) {
  (void)version;
  ar& make_nvp("base", base_object<DifferentiableFunction>(*this));
  ar& make_nvp("J_", const_cast<matrix_t&>(J_));
  ar& make_nvp("b_", const_cast<vector_t&>(b_));
}

HPP_SERIALIZATION_IMPLEMENT(AffineFunction);

template <class Archive>
void ConstantFunction::serialize(Archive& ar, const unsigned int version) {
  (void)version;
  ar& make_nvp("base", base_object<DifferentiableFunction>(*this));
  ar& make_nvp("c_", const_cast<LiegroupElement&>(c_));
}

HPP_SERIALIZATION_IMPLEMENT(ConstantFunction);

}  // namespace constraints
}  // namespace hpp

BOOST_CLASS_EXPORT(hpp::constraints::Identity)
BOOST_CLASS_EXPORT(hpp::constraints::AffineFunction)
BOOST_CLASS_EXPORT(hpp::constraints::ConstantFunction)
