hpp-fcl 2.4.4
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 {
14namespace serialization {
15
16template <class Archive>
17void save(Archive& ar, const hpp::fcl::CollisionGeometry& collision_geometry,
18 const unsigned int /*version*/) {
19 ar& make_nvp("aabb_center", collision_geometry.aabb_center);
20 ar& make_nvp("aabb_radius", collision_geometry.aabb_radius);
21 ar& make_nvp("aabb_local", collision_geometry.aabb_local);
22 ar& make_nvp("cost_density", collision_geometry.cost_density);
23 ar& make_nvp("threshold_occupied", collision_geometry.threshold_occupied);
24 ar& make_nvp("threshold_free", collision_geometry.threshold_free);
25}
26
27template <class Archive>
28void load(Archive& ar, hpp::fcl::CollisionGeometry& collision_geometry,
29 const unsigned int /*version*/) {
30 ar >> make_nvp("aabb_center", collision_geometry.aabb_center);
31 ar >> make_nvp("aabb_radius", collision_geometry.aabb_radius);
32 ar >> make_nvp("aabb_local", collision_geometry.aabb_local);
33 ar >> make_nvp("cost_density", collision_geometry.cost_density);
34 ar >> make_nvp("threshold_occupied", collision_geometry.threshold_occupied);
35 ar >> make_nvp("threshold_free", collision_geometry.threshold_free);
36 collision_geometry.user_data = NULL; // no way to recover this
37}
38
40
41} // namespace serialization
42} // namespace boost
43
44#endif // ifndef HPP_FCL_SERIALIZATION_COLLISION_OBJECT_H
The geometry for the object for collision or distance computation.
Definition: collision_object.h:95
#define HPP_FCL_SERIALIZATION_SPLIT(Type)
Definition: fwd.h:13
FCL_REAL cost_density
collision cost for unit volume
Definition: collision_object.h:165
AABB aabb_local
AABB in local coordinate, used for tight AABB when only translation transform.
Definition: collision_object.h:159
FCL_REAL threshold_occupied
threshold for occupied ( >= is occupied)
Definition: collision_object.h:168
FCL_REAL aabb_radius
AABB radius.
Definition: collision_object.h:155
void * user_data
pointer to user defined data specific to this object
Definition: collision_object.h:162
FCL_REAL threshold_free
threshold for free (<= is free)
Definition: collision_object.h:171
Vec3f aabb_center
AABB center in local coordinate.
Definition: collision_object.h:152
void save(Archive &ar, const hpp::fcl::BVSplitter< BV > &splitter_, const unsigned int)
Definition: BV_splitter.h:30
void load(Archive &ar, hpp::fcl::BVSplitter< BV > &splitter_, const unsigned int)
Definition: BV_splitter.h:44
Definition: AABB.h:11