serialization.hh

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// Copyright (c) 2020, Joseph Mirabel
// Authors: Joseph Mirabel (joseph.mirabel@laas.fr)
//

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#ifndef HPP_PINOCCHIO_LIEGROUP_SERIALIZATION_HH
#define HPP_PINOCCHIO_LIEGROUP_SERIALIZATION_HH

#include <boost/serialization/serialization.hpp>
#include <boost/serialization/split_free.hpp>
#include <hpp/pinocchio/liegroup.hh>

namespace boost {
namespace serialization {

template <class Archive, int Size, bool rot>

 Archive& ar, hpp::pinocchio::liegroup::VectorSpaceOperation<Size, rot>& lg,
 const unsigned int version) {
 (void)version;
 if (Size == Eigen::Dynamic) {
 int nq());
 ar& make_nvp("size", size);
 if (!Archive::is_saving::value) {
 // TODO VectorSpaceOperation should provide a resize operation.
 lg = hpp::pinocchio::liegroup::VectorSpaceOperation<Size, rot>(size);
 }
 }
}

template <class Archive, typename LieGroup1, typename LieGroup2>

 Archive& ar,
 hpp::pinocchio::liegroup::CartesianProductOperation<LieGroup1, LieGroup2>&
 lg,
 const unsigned int version) {
 (void)version;
#if PINOCCHIO_VERSION_AT_LEAST(2, 4, 5)
 ar& make_nvp("lg1", lg.lg1);
 ar& make_nvp("lg2", lg.lg2);
#else
 (void)ar;
 (void)lg;
 throw std::logic_error(
 "Pinocchio version is too low for serializing "
 "hpp::pinocchio::liegroup::CartesianProductOperation");
#endif
}

template <class Archive, int N>

 Archive& ar, hpp::pinocchio::liegroup::SpecialOrthogonalOperation<N>& lg,
 const unsigned int version) {
 (void)ar;
 (void)lg;
 (void)version;
}

template <class Archive, int N>

 Archive& ar, hpp::pinocchio::liegroup::SpecialEuclideanOperation<N>& lg,
 const unsigned int version) {
 (void)ar;
 (void)lg;
 (void)version;
}
} // namespace serialization
} // namespace boost

#endif // HPP_PINOCCHIO_LIEGROUP_SERIALIZATION_HH