capsule.cpp

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#include <tesseract_common/macros.h>
TESSERACT_COMMON_IGNORE_WARNINGS_PUSH
#include <boost/serialization/access.hpp>
#include <boost/serialization/base_object.hpp>
#include <boost/serialization/nvp.hpp>
TESSERACT_COMMON_IGNORE_WARNINGS_POP
 
#include <tesseract_common/utils.h>
#include <tesseract_geometry/impl/capsule.h>
 
namespace tesseract_geometry
{
Capsule::Capsule(double radius, double length) : Geometry(GeometryType::CAPSULE), r_(radius), l_(length) {}
 
double Capsule::getRadius() const { return r_; }
double Capsule::getLength() const { return l_; }
 
Geometry::Ptr Capsule::clone() const { return std::make_shared<Capsule>(r_, l_); }
 
bool Capsule::operator==(const Capsule& rhs) const
{
  bool equal = true;
  equal &= Geometry::operator==(rhs);
  equal &= tesseract_common::almostEqualRelativeAndAbs(r_, rhs.r_);
  equal &= tesseract_common::almostEqualRelativeAndAbs(l_, rhs.l_);
  return equal;
}
bool Capsule::operator!=(const Capsule& rhs) const { return !operator==(rhs); }
 
template <class Archive>
void Capsule::serialize(Archive& ar, const unsigned int /*version*/)
{
  ar& BOOST_SERIALIZATION_BASE_OBJECT_NVP(Geometry);
  ar& BOOST_SERIALIZATION_NVP(r_);
  ar& BOOST_SERIALIZATION_NVP(l_);
}
}  // namespace tesseract_geometry
 
#include <tesseract_common/serialization.h>
TESSERACT_SERIALIZE_ARCHIVES_INSTANTIATE(tesseract_geometry::Capsule)
BOOST_CLASS_EXPORT_IMPLEMENT(tesseract_geometry::Capsule)