serialization/collision_object.h
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1 //
2 // Copyright (c) 2021 INRIA
3 //
4 
5 #ifndef HPP_FCL_SERIALIZATION_COLLISION_OBJECT_H
6 #define HPP_FCL_SERIALIZATION_COLLISION_OBJECT_H
7 
9 
12 
13 namespace boost {
14 namespace serialization {
15 
16 template <class Archive>
17 void save(Archive& ar, const hpp::fcl::CollisionGeometry& collision_geometry,
18  const unsigned int /*version*/) {
19  ar& make_nvp("aabb_center", collision_geometry.aabb_center);
20  ar& make_nvp("aabb_radius", collision_geometry.aabb_radius);
21  ar& make_nvp("aabb_local", collision_geometry.aabb_local);
22  ar& make_nvp("cost_density", collision_geometry.cost_density);
23  ar& make_nvp("threshold_occupied", collision_geometry.threshold_occupied);
24  ar& make_nvp("threshold_free", collision_geometry.threshold_free);
25 }
26 
27 template <class Archive>
28 void load(Archive& ar, hpp::fcl::CollisionGeometry& collision_geometry,
29  const unsigned int /*version*/) {
30  ar >> make_nvp("aabb_center", collision_geometry.aabb_center);
31  ar >> make_nvp("aabb_radius", collision_geometry.aabb_radius);
32  ar >> make_nvp("aabb_local", collision_geometry.aabb_local);
33  ar >> make_nvp("cost_density", collision_geometry.cost_density);
34  ar >> make_nvp("threshold_occupied", collision_geometry.threshold_occupied);
35  ar >> make_nvp("threshold_free", collision_geometry.threshold_free);
36  collision_geometry.user_data = NULL; // no way to recover this
37 }
38 
40 
41 } // namespace serialization
42 } // namespace boost
43 
44 #endif // ifndef HPP_FCL_SERIALIZATION_COLLISION_OBJECT_H
FCL_REAL cost_density
collision cost for unit volume
#define HPP_FCL_SERIALIZATION_SPLIT(Type)
Definition: fwd.h:13
FCL_REAL threshold_occupied
threshold for occupied ( >= is occupied)
AABB aabb_local
AABB in local coordinate, used for tight AABB when only translation transform.
void * user_data
pointer to user defined data specific to this object
void save(Archive &ar, const hpp::fcl::BVSplitter< BV > &splitter_, const unsigned int)
FCL_REAL aabb_radius
AABB radius.
FCL_REAL threshold_free
threshold for free (<= is free)
Vec3f aabb_center
AABB center in local coordinate.
The geometry for the object for collision or distance computation.
void load(Archive &ar, hpp::fcl::BVSplitter< BV > &splitter_, const unsigned int)


hpp-fcl
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autogenerated on Fri Jun 2 2023 02:39:00