serialize_types.h

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/*
 * serialize.h
 *
 *  Created on: Feb 24, 2012
 *      Author: hess
 */

#ifndef SERIALIZE_TOOLS_H_
#define SERIALIZE_TOOLS_H_

#include <boost/archive/text_oarchive.hpp>
#include <boost/archive/text_iarchive.hpp>
#include <boost/serialization/base_object.hpp>
#include <boost/serialization/utility.hpp>
#include <boost/serialization/list.hpp>
#include <boost/serialization/split_free.hpp>
#include <boost/serialization/assume_abstract.hpp>
#include <surfacelet/SurfacePatch.h>
#include <pcl/point_types.h>
#include <pcl/point_cloud.h>
#include <tf/tf.h>

namespace boost {
namespace serialization {

template<class Archive>
void save(Archive &ar, tf::Transform m, const unsigned int version) {
        geometry_msgs::Pose tmp;
        tf::Pose pose;
        tf::poseTFToMsg(m, tmp);
        ar & tmp.position.x;
        ar & tmp.position.y;
        ar & tmp.position.z;
        ar & tmp.orientation.x;
        ar & tmp.orientation.y;
        ar & tmp.orientation.z;
        ar & tmp.orientation.w;
        m = pose;
}

template<class Archive>
void load(Archive &ar, tf::Transform& m, const unsigned int version) {
        geometry_msgs::Pose tmp;
        ar & tmp.position.x;
        ar & tmp.position.y;
        ar & tmp.position.z;
        ar & tmp.orientation.x;
        ar & tmp.orientation.y;
        ar & tmp.orientation.z;
        ar & tmp.orientation.w;
        tf::Pose pose;
        tf::poseMsgToTF(tmp, pose);
        m = pose;
}

template<class Archive>
inline void serialize(
    Archive & ar,
    tf::Transform & t,
    const unsigned int file_version
){
    split_free(ar, t, file_version);
}

template<class Archive>
void serialize(Archive &ar, SurfacePatch& m, const unsigned int version) {
        ar & m.x;
        ar & m.y;
        ar & m.z;
        ar & m.normal_x;
        ar & m.normal_y;
        ar & m.normal_z;
        ar & m.scale_x;
        ar & m.scale_y;
        ar & m.scale_z;
        ar & m.std_dev_z;
}

template<class Archive>
void serialize(Archive &ar, pcl::PointXYZ& m, const unsigned int version) {
        ar & m.x;
        ar & m.y;
        ar & m.z;

}
}
}

#endif /* SERIALIZE_H_ */