change_collision_margins_command.cpp

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#include <tesseract_common/macros.h>
TESSERACT_COMMON_IGNORE_WARNINGS_PUSH
#include <boost/serialization/access.hpp>
#include <boost/serialization/nvp.hpp>
#include <boost/serialization/split_member.hpp>
TESSERACT_COMMON_IGNORE_WARNINGS_POP
 
#include <tesseract_common/utils.h>
#include <tesseract_environment/commands/change_collision_margins_command.h>
 
namespace tesseract_environment
{
ChangeCollisionMarginsCommand::ChangeCollisionMarginsCommand() : Command(CommandType::CHANGE_COLLISION_MARGINS) {}
 
ChangeCollisionMarginsCommand::ChangeCollisionMarginsCommand(double default_margin)
  : Command(CommandType::CHANGE_COLLISION_MARGINS), default_margin_(default_margin)
{
}
 
ChangeCollisionMarginsCommand::ChangeCollisionMarginsCommand(CollisionMarginPairData pair_margins,
                                                             CollisionMarginPairOverrideType pair_override_type)
  : Command(CommandType::CHANGE_COLLISION_MARGINS)
  , pair_margins_(std::move(pair_margins))
  , pair_override_type_(pair_override_type)
{
}
 
ChangeCollisionMarginsCommand::ChangeCollisionMarginsCommand(double default_margin,
                                                             CollisionMarginPairData pair_margins,
                                                             CollisionMarginPairOverrideType pair_override_type)
  : Command(CommandType::CHANGE_COLLISION_MARGINS)
  , default_margin_(default_margin)
  , pair_margins_(std::move(pair_margins))
  , pair_override_type_(pair_override_type)
{
}
 
std::optional<double> ChangeCollisionMarginsCommand::getDefaultCollisionMargin() const { return default_margin_; }
 
tesseract_common::CollisionMarginPairData ChangeCollisionMarginsCommand::getCollisionMarginPairData() const
{
  return pair_margins_;
}
 
tesseract_common::CollisionMarginPairOverrideType
ChangeCollisionMarginsCommand::getCollisionMarginPairOverrideType() const
{
  return pair_override_type_;
}
 
bool ChangeCollisionMarginsCommand::operator==(const ChangeCollisionMarginsCommand& rhs) const
{
  bool equal = true;
  equal &= Command::operator==(rhs);
  equal &= default_margin_.has_value() == rhs.default_margin_.has_value();
  if (!equal)
    return equal;
 
  if (default_margin_.has_value() && rhs.default_margin_.has_value())
    equal &= tesseract_common::almostEqualRelativeAndAbs(default_margin_.value(), rhs.default_margin_.value());
 
  equal &= pair_margins_ == rhs.pair_margins_;
  equal &= pair_override_type_ == rhs.pair_override_type_;
  return equal;
}
bool ChangeCollisionMarginsCommand::operator!=(const ChangeCollisionMarginsCommand& rhs) const
{
  return !operator==(rhs);
}
 
template <class Archive>
void ChangeCollisionMarginsCommand::load(Archive& ar, const unsigned int /*version*/)
{
  ar& BOOST_SERIALIZATION_BASE_OBJECT_NVP(Command);
  bool has_default_margin{ false };
  ar& boost::serialization::make_nvp("has_default_margin", has_default_margin);
  if (has_default_margin)
  {
    double default_margin{ 0 };
    ar& boost::serialization::make_nvp("default_margin", default_margin);
    default_margin_ = default_margin;
  }
  ar& BOOST_SERIALIZATION_NVP(pair_margins_);
  ar& BOOST_SERIALIZATION_NVP(pair_override_type_);
}
 
template <class Archive>
void ChangeCollisionMarginsCommand::save(Archive& ar, const unsigned int /*version*/) const
{
  ar& BOOST_SERIALIZATION_BASE_OBJECT_NVP(Command);
 
  bool has_default_margin{ default_margin_.has_value() };
  double default_margin{ 0 };
  if (default_margin_.has_value())
    default_margin = default_margin_.value();
 
  ar& boost::serialization::make_nvp("has_default_margin", has_default_margin);
  ar& boost::serialization::make_nvp("default_margin", default_margin);
  ar& BOOST_SERIALIZATION_NVP(pair_margins_);
  ar& BOOST_SERIALIZATION_NVP(pair_override_type_);
}
 
template <class Archive>
void ChangeCollisionMarginsCommand::serialize(Archive& ar, const unsigned int version)
{
  boost::serialization::split_member(ar, *this, version);
}
}  // namespace tesseract_environment
 
#include <tesseract_common/serialization.h>
TESSERACT_SERIALIZE_ARCHIVES_INSTANTIATE(tesseract_environment::ChangeCollisionMarginsCommand)
BOOST_CLASS_EXPORT_IMPLEMENT(tesseract_environment::ChangeCollisionMarginsCommand)