.. _program_listing_file__tmp_ws_src_hpp-fcl_include_hpp_fcl_serialization_eigen.h:

Program Listing for File eigen.h
================================

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

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

.. code-block:: cpp

   //
   // Copyright (c) 2017-2021 CNRS INRIA
   //
   
   /*
    Code adapted from Pinocchio and
    https://gist.githubusercontent.com/mtao/5798888/raw/5be9fa9b66336c166dba3a92c0e5b69ffdb81501/eigen_boost_serialization.hpp
    Copyright (c) 2015 Michael Tao
   */
   
   #ifndef HPP_FCL_SERIALIZATION_EIGEN_H
   #define HPP_FCL_SERIALIZATION_EIGEN_H
   
   #include <Eigen/Dense>
   
   #include <boost/serialization/split_free.hpp>
   #include <boost/serialization/vector.hpp>
   #include <boost/serialization/array.hpp>
   
   // Workaround a bug in GCC >= 7 and C++17
   // ref. https://gitlab.com/libeigen/eigen/-/issues/1676
   #ifdef __GNUC__
   #if __GNUC__ >= 7 && __cplusplus >= 201703L
   namespace boost {
   namespace serialization {
   struct U;
   }
   }  // namespace boost
   namespace Eigen {
   namespace internal {
   template <>
   struct traits<boost::serialization::U> {
     enum { Flags = 0 };
   };
   }  // namespace internal
   }  // namespace Eigen
   #endif
   #endif
   
   namespace boost {
   namespace serialization {
   
   #ifndef HPP_FCL_SKIP_EIGEN_BOOST_SERIALIZATION
   
   template <class Archive, typename Scalar, int Rows, int Cols, int Options,
             int MaxRows, int MaxCols>
   void save(Archive& ar,
             const Eigen::Matrix<Scalar, Rows, Cols, Options, MaxRows, MaxCols>& m,
             const unsigned int /*version*/) {
     Eigen::DenseIndex rows(m.rows()), cols(m.cols());
     if (Rows == Eigen::Dynamic) ar& BOOST_SERIALIZATION_NVP(rows);
     if (Cols == Eigen::Dynamic) ar& BOOST_SERIALIZATION_NVP(cols);
     ar& make_nvp("data", make_array(m.data(), (size_t)m.size()));
   }
   
   template <class Archive, typename Scalar, int Rows, int Cols, int Options,
             int MaxRows, int MaxCols>
   void load(Archive& ar,
             Eigen::Matrix<Scalar, Rows, Cols, Options, MaxRows, MaxCols>& m,
             const unsigned int /*version*/) {
     Eigen::DenseIndex rows = Rows, cols = Cols;
     if (Rows == Eigen::Dynamic) ar >> BOOST_SERIALIZATION_NVP(rows);
     if (Cols == Eigen::Dynamic) ar >> BOOST_SERIALIZATION_NVP(cols);
     m.resize(rows, cols);
     ar >> make_nvp("data", make_array(m.data(), (size_t)m.size()));
   }
   
   template <class Archive, typename Scalar, int Rows, int Cols, int Options,
             int MaxRows, int MaxCols>
   void serialize(Archive& ar,
                  Eigen::Matrix<Scalar, Rows, Cols, Options, MaxRows, MaxCols>& m,
                  const unsigned int version) {
     split_free(ar, m, version);
   }
   
   template <class Archive, typename PlainObjectBase, int MapOptions,
             typename StrideType>
   void save(Archive& ar,
             const Eigen::Map<PlainObjectBase, MapOptions, StrideType>& m,
             const unsigned int /*version*/) {
     Eigen::DenseIndex rows(m.rows()), cols(m.cols());
     if (PlainObjectBase::RowsAtCompileTime == Eigen::Dynamic)
       ar& BOOST_SERIALIZATION_NVP(rows);
     if (PlainObjectBase::ColsAtCompileTime == Eigen::Dynamic)
       ar& BOOST_SERIALIZATION_NVP(cols);
     ar& make_nvp("data", make_array(m.data(), (size_t)m.size()));
   }
   
   template <class Archive, typename PlainObjectBase, int MapOptions,
             typename StrideType>
   void load(Archive& ar, Eigen::Map<PlainObjectBase, MapOptions, StrideType>& m,
             const unsigned int /*version*/) {
     Eigen::DenseIndex rows = PlainObjectBase::RowsAtCompileTime,
                       cols = PlainObjectBase::ColsAtCompileTime;
     if (PlainObjectBase::RowsAtCompileTime == Eigen::Dynamic)
       ar >> BOOST_SERIALIZATION_NVP(rows);
     if (PlainObjectBase::ColsAtCompileTime == Eigen::Dynamic)
       ar >> BOOST_SERIALIZATION_NVP(cols);
     m.resize(rows, cols);
     ar >> make_nvp("data", make_array(m.data(), (size_t)m.size()));
   }
   
   template <class Archive, typename PlainObjectBase, int MapOptions,
             typename StrideType>
   void serialize(Archive& ar,
                  Eigen::Map<PlainObjectBase, MapOptions, StrideType>& m,
                  const unsigned int version) {
     split_free(ar, m, version);
   }
   
   #endif  // ifned HPP_FCL_SKIP_EIGEN_BOOST_SERIALIZATION
   }  // namespace serialization
   }  // namespace boost
   
   #endif  // ifndef HPP_FCL_SERIALIZATION_EIGEN_H