pickle.hh

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//
// Copyright (c) 2022 INRIA
//
 
#ifndef HPP_FCL_PYTHON_PICKLE_H
#define HPP_FCL_PYTHON_PICKLE_H
 
#include <boost/python.hpp>
#include <eigenpy/eigenpy.hpp>
 
#include <boost/archive/text_oarchive.hpp>
#include <boost/archive/text_iarchive.hpp>
#include <sstream>
 
using namespace boost::python;
using namespace hpp::fcl;
//
template <typename T>
struct PickleObject : boost::python::pickle_suite {
  static boost::python::tuple getinitargs(const T&) {
    return boost::python::make_tuple();
  }
 
  static boost::python::tuple getstate(const T& obj) {
    std::stringstream ss;
    boost::archive::text_oarchive oa(ss);
    oa & obj;
 
    return boost::python::make_tuple(boost::python::str(ss.str()));
  }
 
  static void setstate(T& obj, boost::python::tuple tup) {
    if (boost::python::len(tup) == 0 || boost::python::len(tup) > 1) {
      throw eigenpy::Exception(
          "Pickle was not able to reconstruct the object from the loaded "
          "data.\n"
          "The pickle data structure contains too many elements.");
    }
 
    boost::python::object py_obj = tup[0];
    boost::python::extract<std::string> obj_as_string(py_obj.ptr());
    if (obj_as_string.check()) {
      const std::string str = obj_as_string;
      std::istringstream is(str);
      boost::archive::text_iarchive ia(is, boost::archive::no_codecvt);
      ia >> obj;
    } else {
      throw eigenpy::Exception(
          "Pickle was not able to reconstruct the model from the loaded data.\n"
          "The entry is not a string.");
    }
  }
 
  static bool getstate_manages_dict() { return false; }
};
 
#endif  // ifndef HPP_FCL_PYTHON_PICKLE_H