hpp-core: include/hpp/core/parser/roadmap.hh Source File

hpp-core 9.0.2 Implement basic classes for canonical path planning for kinematic chains.

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roadmap.hh
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1// Copyright (c) 2020 CNRS
2// Authors: Joseph Mirabel
3//
4
5// Redistribution and use in source and binary forms, with or without
6// modification, are permitted provided that the following conditions are
7// met:
8//
9// 1. Redistributions of source code must retain the above copyright
10// notice, this list of conditions and the following disclaimer.
11//
12// 2. Redistributions in binary form must reproduce the above copyright
13// notice, this list of conditions and the following disclaimer in the
14// documentation and/or other materials provided with the distribution.
15//
16// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
17// "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
18// LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
19// A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
20// HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
21// SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
22// LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
23// DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
24// THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
25// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
26// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH
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28
29#ifndef HPP_CORE_PARSER_ROADMAP_HH
30#define HPP_CORE_PARSER_ROADMAP_HH
31
32#include <fstream>
33#include <hpp/core/roadmap.hh>
34#include <hpp/pinocchio/serialization.hh>
35
36namespace hpp {
37namespace core {
38 namespace parser {
39 namespace internal {
40
41template <typename Parent, typename Child>
42 struct InsertChildClass : std::pair<std::string, Child*> {
43 using std::pair<std::string, Child>::pair;
44};
45
46template <class Archive, class A>
47 inline void insert(Archive& ar, const std::pair<std::string, A*>& a) {
48 ar.insert(a.first, a.second);
49}
50
51template <class Archive, class Parent, class Child>
52 inline void insert(Archive& ar, const InsertChildClass<Parent, Child>& a) {
53 ar.template insertChildClass<Parent, Child>(a.first, a.second);
54}
55
56template <class Archive>
57 inline void inserts(Archive&) {}
58template <class Archive, class A, class... B>
59 inline void inserts(Archive& ar, A& a, B&... b) {
60 insert(ar, a);
61 inserts(ar, b...);
62}
63} // namespace internal
64
76template <class A>
77std::pair<std::string, A*> make_nvp(const std::string& n, A* a) {
78 return std::pair<std::string, A*>(n, a);
79}
80template <class Parent, class Child>
81 internal::InsertChildClass<Parent, Child> make_nvp_with_parent(
82 const std::string& n, Child* a) {
83 return internal::InsertChildClass<Parent, Child>(n, a);
84}
85
86template <class Archive, class... Args>
87 void serializeRoadmap(RoadmapPtr_t& roadmap, const std::string& filename,
88 Args... args) {
89 typename std::conditional<Archive::is_saving::value, std::ofstream,
90 std::ifstream>::type fs(filename);
91 Archive ar(fs);
92 internal::inserts(ar, args...);
93 ar.initialize();
94 ar& hpp::serialization::make_nvp("roadmap", roadmap);
95}
97} // namespace parser
98} // namespace core
99} // namespace hpp
100#endif // HPP_CORE_PARSER_ROADMAP_HH
hpp::core::parser::serializeRoadmap
void serializeRoadmap(RoadmapPtr_t &roadmap, const std::string &filename, Args... args)
Definition roadmap.hh:87
hpp::core::parser::make_nvp_with_parent
internal::InsertChildClass< Parent, Child > make_nvp_with_parent(const std::string &n, Child *a)
Definition roadmap.hh:81
hpp::core::parser::make_nvp
std::pair< std::string, A * > make_nvp(const std::string &n, A *a)
Definition roadmap.hh:77
hpp
hpp::core::parser::internal::insert
void insert(Archive &ar, const std::pair< std::string, A * > &a)
Definition roadmap.hh:47
hpp::core::parser::internal::inserts
void inserts(Archive &)
Definition roadmap.hh:57
hpp::core::RoadmapPtr_t
shared_ptr< Roadmap > RoadmapPtr_t
Definition fwd.hh:199
roadmap.hh
serialization.hh
hpp::core::parser::internal::InsertChildClass
Definition roadmap.hh:42