hpp-fcl 1.8.1
HPP fork of FCL -- The Flexible Collision Library
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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
13namespace 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
The geometry for the object for collision or distance computation.
Definition: collision_object.h:67
#define HPP_FCL_SERIALIZATION_SPLIT(Type)
Definition: fwd.h:13
FCL_REAL cost_density
collision cost for unit volume
Definition: collision_object.h:159
AABB aabb_local
AABB in local coordinate, used for tight AABB when only translation transform.
Definition: collision_object.h:153
FCL_REAL threshold_occupied
threshold for occupied ( >= is occupied)
Definition: collision_object.h:162
FCL_REAL aabb_radius
AABB radius.
Definition: collision_object.h:150
void * user_data
pointer to user defined data specific to this object
Definition: collision_object.h:156
FCL_REAL threshold_free
threshold for free (<= is free)
Definition: collision_object.h:165
Vec3f aabb_center
AABB center in local coordinate.
Definition: collision_object.h:147
void save(Archive &ar, const hpp::fcl::BVSplitter< BV > &splitter_, const unsigned int)
Definition: BV_splitter.h:34
void load(Archive &ar, hpp::fcl::BVSplitter< BV > &splitter_, const unsigned int)
Definition: BV_splitter.h:50
Definition: AABB.h:12