5 #ifndef HPP_FCL_SERIALIZATION_GEOMETRIC_SHAPES_H 6 #define HPP_FCL_SERIALIZATION_GEOMETRIC_SHAPES_H 13 namespace serialization
16 template <
class Archive>
21 ar & make_nvp(
"base",boost::serialization::base_object<hpp::fcl::CollisionGeometry>(shape_base));
24 template <
class Archive>
29 ar & make_nvp(
"base",boost::serialization::base_object<hpp::fcl::ShapeBase>(triangle));
30 ar & make_nvp(
"a",triangle.
a);
31 ar & make_nvp(
"b",triangle.
b);
32 ar & make_nvp(
"c",triangle.
c);
35 template <
class Archive>
40 ar & make_nvp(
"base",boost::serialization::base_object<hpp::fcl::ShapeBase>(box));
41 ar & make_nvp(
"halfSide",box.
halfSide);
44 template <
class Archive>
49 ar & make_nvp(
"base",boost::serialization::base_object<hpp::fcl::ShapeBase>(sphere));
50 ar & make_nvp(
"radius",sphere.
radius);
53 template <
class Archive>
58 ar & make_nvp(
"base",boost::serialization::base_object<hpp::fcl::ShapeBase>(capsule));
59 ar & make_nvp(
"radius",capsule.
radius);
60 ar & make_nvp(
"halfLength",capsule.
halfLength);
63 template <
class Archive>
68 ar & make_nvp(
"base",boost::serialization::base_object<hpp::fcl::ShapeBase>(cone));
69 ar & make_nvp(
"radius",cone.
radius);
73 template <
class Archive>
78 ar & make_nvp(
"base",boost::serialization::base_object<hpp::fcl::ShapeBase>(cylinder));
79 ar & make_nvp(
"radius",cylinder.
radius);
80 ar & make_nvp(
"halfLength",cylinder.
halfLength);
83 template <
class Archive>
88 ar & make_nvp(
"base",boost::serialization::base_object<hpp::fcl::ShapeBase>(half_space));
89 ar & make_nvp(
"n",half_space.
n);
90 ar & make_nvp(
"d",half_space.
d);
93 template <
class Archive>
98 ar & make_nvp(
"base",boost::serialization::base_object<hpp::fcl::ShapeBase>(plane));
99 ar & make_nvp(
"n",plane.
n);
100 ar & make_nvp(
"d",plane.
d);
106 #endif // ifndef HPP_FCL_SERIALIZATION_GEOMETRIC_SHAPES_H Vec3f halfSide
box side half-length
Definition: geometric_shapes.h:125
Vec3f n
Plane normal.
Definition: geometric_shapes.h:514
Vec3f b
Definition: geometric_shapes.h:96
FCL_REAL halfLength
Half Length along z axis.
Definition: geometric_shapes.h:271
Cylinder along Z axis. The cylinder is defined at its centroid.
Definition: geometric_shapes.h:305
Half Space: this is equivalent to the Plane in ODE. The separation plane is defined as n * x = d; Poi...
Definition: geometric_shapes.h:460
void serialize(Archive &ar, hpp::fcl::AABB &aabb, const unsigned int)
Definition: AABB.h:17
Infinite plane.
Definition: geometric_shapes.h:530
Vec3f c
Definition: geometric_shapes.h:96
Base class for all basic geometric shapes.
Definition: geometric_shapes.h:54
FCL_REAL radius
Radius of the cone.
Definition: geometric_shapes.h:265
Center at zero point, axis aligned box.
Definition: geometric_shapes.h:102
Triangle stores the points instead of only indices of points.
Definition: geometric_shapes.h:75
Cone The base of the cone is at and the top is at .
Definition: geometric_shapes.h:249
Vec3f a
Definition: geometric_shapes.h:96
FCL_REAL d
Plane offset.
Definition: geometric_shapes.h:517
FCL_REAL d
Plane offset.
Definition: geometric_shapes.h:586
FCL_REAL radius
Radius of the sphere.
Definition: geometric_shapes.h:163
FCL_REAL radius
Radius of the cylinder.
Definition: geometric_shapes.h:321
Vec3f n
Plane normal.
Definition: geometric_shapes.h:583
Center at zero point sphere.
Definition: geometric_shapes.h:149
Capsule It is where is the distance between the point x and the capsule segment AB...
Definition: geometric_shapes.h:192
FCL_REAL halfLength
Half Length along z axis.
Definition: geometric_shapes.h:327
FCL_REAL radius
Radius of capsule.
Definition: geometric_shapes.h:208
FCL_REAL halfLength
Half Length along z axis.
Definition: geometric_shapes.h:214