hpp-fcl  1.7.5
HPP fork of FCL -- The Flexible Collision Library
collision_object.h
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1 //
2 // Copyright (c) 2021 INRIA
3 //
4 
5 #ifndef HPP_FCL_SERIALIZATION_COLLISION_OBJECT_H
6 #define HPP_FCL_SERIALIZATION_COLLISION_OBJECT_H
7 
9 
12 
13 namespace boost
14 {
15  namespace serialization
16  {
17 
18  template <class Archive>
19  void save(Archive & ar,
20  const hpp::fcl::CollisionGeometry & collision_geometry,
21  const unsigned int /*version*/)
22  {
23  ar & make_nvp("aabb_center",collision_geometry.aabb_center);
24  ar & make_nvp("aabb_radius",collision_geometry.aabb_radius);
25  ar & make_nvp("aabb_local",collision_geometry.aabb_local);
26  ar & make_nvp("cost_density",collision_geometry.cost_density);
27  ar & make_nvp("threshold_occupied",collision_geometry.threshold_occupied);
28  ar & make_nvp("threshold_free",collision_geometry.threshold_free);
29  }
30 
31  template <class Archive>
32  void load(Archive & ar,
33  hpp::fcl::CollisionGeometry & collision_geometry,
34  const unsigned int /*version*/)
35  {
36  ar >> make_nvp("aabb_center",collision_geometry.aabb_center);
37  ar >> make_nvp("aabb_radius",collision_geometry.aabb_radius);
38  ar >> make_nvp("aabb_local",collision_geometry.aabb_local);
39  ar >> make_nvp("cost_density",collision_geometry.cost_density);
40  ar >> make_nvp("threshold_occupied",collision_geometry.threshold_occupied);
41  ar >> make_nvp("threshold_free",collision_geometry.threshold_free);
42  collision_geometry.user_data = NULL; // no way to recover this
43  }
44 
46 
47  }
48 }
49 
50 #endif // ifndef HPP_FCL_SERIALIZATION_COLLISION_OBJECT_H
FCL_REAL cost_density
collision cost for unit volume
Definition: collision_object.h:158
Definition: AABB.h:11
#define HPP_FCL_SERIALIZATION_SPLIT(Type)
Definition: fwd.h:13
FCL_REAL threshold_occupied
threshold for occupied ( >= is occupied)
Definition: collision_object.h:161
AABB aabb_local
AABB in local coordinate, used for tight AABB when only translation transform.
Definition: collision_object.h:152
void * user_data
pointer to user defined data specific to this object
Definition: collision_object.h:155
void save(Archive &ar, const hpp::fcl::BVSplitter< BV > &splitter_, const unsigned int)
Definition: BV_splitter.h:34
FCL_REAL aabb_radius
AABB radius.
Definition: collision_object.h:149
FCL_REAL threshold_free
threshold for free (<= is free)
Definition: collision_object.h:164
Vec3f aabb_center
AABB center in local coordinate.
Definition: collision_object.h:146
The geometry for the object for collision or distance computation.
Definition: collision_object.h:65
void load(Archive &ar, hpp::fcl::BVSplitter< BV > &splitter_, const unsigned int)
Definition: BV_splitter.h:50