.. _program_listing_file__tmp_ws_src_hpp-fcl_include_hpp_fcl_serialization_hfield.h:

Program Listing for File hfield.h
=================================

|exhale_lsh| :ref:`Return to documentation for file <file__tmp_ws_src_hpp-fcl_include_hpp_fcl_serialization_hfield.h>` (``/tmp/ws/src/hpp-fcl/include/hpp/fcl/serialization/hfield.h``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS

.. code-block:: cpp

   //
   // Copyright (c) 2021 INRIA
   //
   
   #ifndef HPP_FCL_SERIALIZATION_HFIELD_H
   #define HPP_FCL_SERIALIZATION_HFIELD_H
   
   #include "hpp/fcl/hfield.h"
   
   #include "hpp/fcl/serialization/fwd.h"
   #include "hpp/fcl/serialization/OBBRSS.h"
   
   namespace boost {
   namespace serialization {
   
   template <class Archive>
   void serialize(Archive &ar, hpp::fcl::HFNodeBase &node,
                  const unsigned int /*version*/) {
     ar &make_nvp("first_child", node.first_child);
     ar &make_nvp("x_id", node.x_id);
     ar &make_nvp("x_size", node.x_size);
     ar &make_nvp("y_id", node.y_id);
     ar &make_nvp("y_size", node.y_size);
     ar &make_nvp("max_height", node.max_height);
   }
   
   template <class Archive, typename BV>
   void serialize(Archive &ar, hpp::fcl::HFNode<BV> &node,
                  const unsigned int /*version*/) {
     ar &make_nvp("base",
                  boost::serialization::base_object<hpp::fcl::HFNodeBase>(node));
     ar &make_nvp("bv", node.bv);
   }
   
   namespace internal {
   template <typename BV>
   struct HeightFieldAccessor : hpp::fcl::HeightField<BV> {
     typedef hpp::fcl::HeightField<BV> Base;
     using Base::bvs;
     using Base::heights;
     using Base::max_height;
     using Base::min_height;
     using Base::num_bvs;
     using Base::x_dim;
     using Base::x_grid;
     using Base::y_dim;
     using Base::y_grid;
   };
   }  // namespace internal
   
   template <class Archive, typename BV>
   void serialize(Archive &ar, hpp::fcl::HeightField<BV> &hf_model,
                  const unsigned int /*version*/) {
     ar &make_nvp(
         "base",
         boost::serialization::base_object<hpp::fcl::CollisionGeometry>(hf_model));
   
     typedef internal::HeightFieldAccessor<BV> Accessor;
     Accessor &access = reinterpret_cast<Accessor &>(hf_model);
   
     ar &make_nvp("x_dim", access.x_dim);
     ar &make_nvp("y_dim", access.y_dim);
     ar &make_nvp("heights", access.heights);
     ar &make_nvp("min_height", access.min_height);
     ar &make_nvp("max_height", access.max_height);
     ar &make_nvp("x_grid", access.x_grid);
     ar &make_nvp("y_grid", access.y_grid);
   
     ar &make_nvp("bvs", access.bvs);
     ar &make_nvp("num_bvs", access.num_bvs);
   }
   }  // namespace serialization
   }  // namespace boost
   
   #endif  // ifndef HPP_FCL_SERIALIZATION_HFIELD_H