src/serialization/geometry.hpp

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//
// Copyright (c) 2021 INRIA
//

#ifndef __pinocchio_serialization_multibody_geometry_hpp__
#define __pinocchio_serialization_multibody_geometry_hpp__

#include <boost/serialization/vector.hpp>
#include <boost/serialization/map.hpp>

#ifdef PINOCCHIO_WITH_HPP_FCL
  #define HPP_FCL_SKIP_EIGEN_BOOST_SERIALIZATION
  #include <hpp/fcl/serialization/collision_data.h>
  #undef HPP_FCL_SKIP_EIGEN_BOOST_SERIALIZATION
#endif // PINOCCHIO_WITH_HPP_FCL

#include "pinocchio/multibody/geometry.hpp"
#include "pinocchio/serialization/aligned-vector.hpp"
#include "pinocchio/serialization/spatial.hpp"

namespace boost
{
  namespace serialization
  {
    template<class Archive>
    void serialize(Archive & ar,
                   pinocchio::CollisionPair & collision_pair,
                   const unsigned int /*version*/)
    {
      ar & make_nvp("pair",base_object<pinocchio::CollisionPair::Base>(collision_pair));
    }
  
    template<class Archive>
    void serialize(Archive & ar,
                   pinocchio::GeometryData & geom_data,
                   const unsigned int /*version*/)
    {
      ar & make_nvp("oMg",geom_data.oMg);
      
      ar & make_nvp("activeCollisionPairs",geom_data.activeCollisionPairs);
      
#ifdef PINOCCHIO_WITH_HPP_FCL
      ar & make_nvp("distanceRequests",geom_data.distanceRequests);
      ar & make_nvp("distanceResults",geom_data.distanceResults);
      ar & make_nvp("collisionRequests",geom_data.collisionRequests);
      ar & make_nvp("collisionResults",geom_data.collisionResults);
      
      ar & make_nvp("radius",geom_data.radius);
      
      ar & make_nvp("collisionPairIndex",geom_data.collisionPairIndex);
#endif // PINOCCHIO_WITH_HPP_FCL
      
      ar & make_nvp("innerObjects",geom_data.innerObjects);
      ar & make_nvp("outerObjects",geom_data.outerObjects);
    }
    
  } // namespace serialization
} // namespace boost

#endif // ifndef __pinocchio_serialization_multibody_geometry_hpp__