5 #ifndef HPP_FCL_SERIALIZATION_HFIELD_H 6 #define HPP_FCL_SERIALIZATION_HFIELD_H 15 namespace serialization
18 template <
class Archive>
24 ar & make_nvp(
"x_id",node.
x_id);
25 ar & make_nvp(
"x_size",node.
x_size);
26 ar & make_nvp(
"y_id",node.
y_id);
27 ar & make_nvp(
"y_size",node.
y_size);
30 template <
class Archive,
typename BV>
35 ar & make_nvp(
"base",boost::serialization::base_object<hpp::fcl::HFNodeBase>(node));
36 ar & make_nvp(
"bv",node.
bv);
57 template <
class Archive,
typename BV>
62 ar & make_nvp(
"base",boost::serialization::base_object<hpp::fcl::CollisionGeometry>(hf_model));
66 Accessor & access =
reinterpret_cast<Accessor &
>(hf_model);
68 ar & make_nvp(
"x_dim",access.x_dim);
69 ar & make_nvp(
"y_dim",access.y_dim);
70 ar & make_nvp(
"heights",access.heights);
71 ar & make_nvp(
"min_height",access.min_height);
72 ar & make_nvp(
"max_height",access.max_height);
73 ar & make_nvp(
"x_grid",access.x_grid);
74 ar & make_nvp(
"y_grid",access.y_grid);
76 ar & make_nvp(
"bvs",access.bvs);
77 ar & make_nvp(
"num_bvs",access.num_bvs);
82 #endif // ifndef HPP_FCL_SERIALIZATION_HFIELD_H
FCL_REAL min_height
Minimal height of the Height Field: all values bellow min_height will be discarded.
Definition: hfield.h:384
void serialize(Archive &ar, hpp::fcl::AABB &aabb, const unsigned int)
Definition: AABB.h:17
FCL_REAL y_dim
Definition: hfield.h:378
BV bv
bounding volume storing the geometry
Definition: hfield.h:111
Data structure depicting a height field given by the base grid dimensions and the elevation along the...
Definition: hfield.h:194
BVS bvs
Bounding volume hierarchy.
Definition: hfield.h:390
Eigen::DenseIndex x_size
Definition: hfield.h:64
VecXf y_grid
Definition: hfield.h:387
size_t first_child
An index for first child node or primitive If the value is positive, it is the index of the first chi...
Definition: hfield.h:62
Eigen::DenseIndex y_size
Definition: hfield.h:65
VecXf x_grid
Grids along the X and Y directions. Useful for plotting or other related things.
Definition: hfield.h:387
Eigen::DenseIndex y_id
Definition: hfield.h:65
MatrixXf heights
Elevation values in meters of the Height Field.
Definition: hfield.h:381
FCL_REAL x_dim
Dimensions in meters along X and Y directions.
Definition: hfield.h:378
FCL_REAL max_height
Definition: hfield.h:384
hpp::fcl::HeightField< BV > Base
Definition: hfield.h:44
unsigned int num_bvs
Definition: hfield.h:391
Eigen::DenseIndex x_id
Definition: hfield.h:64