curve-map.hpp

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// Copyright (c) 2019-2020, CNRS
// Authors: Pierre Fernbach <pfernbac@laas.fr>
 
#ifndef __multicontact_api_geometry_curve_map_hpp__
#define __multicontact_api_geometry_curve_map_hpp__
 
#include <ndcurves/curve_abc.h>
 
#include <boost/serialization/access.hpp>
#include <boost/serialization/base_object.hpp>
#include <boost/serialization/map.hpp>
#include <boost/serialization/shared_ptr.hpp>
#include <boost/serialization/string.hpp>
#include <map>
#include <ndcurves/serialization/registeration.hpp>
#include <string>
 
#include "multicontact-api/serialization/archive.hpp"
 
template <typename Curve>
struct CurveMap : public std::map<std::string, Curve> {
  typedef CurveMap<Curve> CurveMap_t;
  typedef std::map<std::string, Curve> Parent;
 
  // define operator == for map of shared ptr: start by checking if the ptr are
  // same, otherwise check if the values are the sames
  bool operator==(const CurveMap_t& other) const {
    if (this->size() != other.size()) return false;
    for (typename Parent::const_iterator it = this->begin(); it != this->end();
         ++it) {
      if (other.count(it->first) < 1) return false;
      if ((it->second != other.at(it->first)) &&
          !(it->second->isApprox(other.at(it->first).get())))
        return false;
    }
    return true;
  }
 
  bool operator!=(const CurveMap_t& other) const { return !(*this == other); }
 
  friend class boost::serialization::access;
  template <class Archive>
  void serialize(Archive& ar, const unsigned int /*version*/) {
    ar& BOOST_SERIALIZATION_BASE_OBJECT_NVP(Parent);
  }
};
 
#endif  // CURVEMAP_HPP