Serialization: import Serializable from pinocchio

Author: lmontaut

CMakeLists.txt

@@ -264,6 +264,9 @@ SET(${PROJECT_NAME}_HEADERS
   include/hpp/fcl/internal/traversal_recurse.h
   include/hpp/fcl/internal/traversal.h
   include/hpp/fcl/serialization/fwd.h
+  include/hpp/fcl/serialization/serializable.h
+  include/hpp/fcl/serialization/archive.h
+  include/hpp/fcl/serialization/static-buffer.h
   include/hpp/fcl/serialization/transform.h
   include/hpp/fcl/serialization/AABB.h
   include/hpp/fcl/serialization/BV_node.h

include/hpp/fcl/BVH/BVH_model.h

@@ -39,10 +39,12 @@
 #ifndef HPP_FCL_BVH_MODEL_H
 #define HPP_FCL_BVH_MODEL_H
 
-#include <hpp/fcl/fwd.hh>
-#include <hpp/fcl/collision_object.h>
-#include <hpp/fcl/BVH/BVH_internal.h>
-#include <hpp/fcl/BV/BV_node.h>
+#include "hpp/fcl/fwd.hh"
+#include "hpp/fcl/collision_object.h"
+#include "hpp/fcl/BVH/BVH_internal.h"
+#include "hpp/fcl/BV/BV_node.h"
+#include "hpp/fcl/serialization/serializable.h"
+
 #include <vector>
 #include <memory>
 #include <iostream>
@@ -311,7 +313,9 @@ class HPP_FCL_DLLAPI BVHModelBase : public CollisionGeometry {
 /// cloud model (which is viewed as a degraded version of mesh) \tparam BV one
 /// of the bounding volume class in \ref Bounding_Volume.
 template <typename BV>
-class HPP_FCL_DLLAPI BVHModel : public BVHModelBase {
+class HPP_FCL_DLLAPI BVHModel
+    : public BVHModelBase,
+      public ::hpp::fcl::serialization::Serializable<BVHModel<BV>> {
   typedef BVHModelBase Base;
 
  public:

include/hpp/fcl/collision_data.h

@@ -43,11 +43,12 @@
 #include <set>
 #include <limits>
 
-#include <hpp/fcl/collision_object.h>
-#include <hpp/fcl/config.hh>
-#include <hpp/fcl/data_types.h>
-#include <hpp/fcl/timings.h>
-#include <hpp/fcl/narrowphase/narrowphase_defaults.h>
+#include "hpp/fcl/collision_object.h"
+#include "hpp/fcl/config.hh"
+#include "hpp/fcl/data_types.h"
+#include "hpp/fcl/timings.h"
+#include "hpp/fcl/narrowphase/narrowphase_defaults.h"
+#include "hpp/fcl/serialization/serializable.h"
 
 namespace hpp {
 namespace fcl {
@@ -301,7 +302,9 @@ enum CollisionRequestFlag {
 };
 
 /// @brief request to the collision algorithm
-struct HPP_FCL_DLLAPI CollisionRequest : QueryRequest {
+struct HPP_FCL_DLLAPI CollisionRequest
+    : QueryRequest,
+      ::hpp::fcl::serialization::Serializable<CollisionRequest> {
   /// @brief The maximum number of contacts that can be returned
   size_t num_max_contacts;
 
@@ -382,7 +385,9 @@ inline FCL_REAL Contact::getDistanceToCollision(
 }
 
 /// @brief collision result
-struct HPP_FCL_DLLAPI CollisionResult : QueryResult {
+struct HPP_FCL_DLLAPI CollisionResult
+    : QueryResult,
+      ::hpp::fcl::serialization::Serializable<CollisionResult> {
  private:
   /// @brief contact information
   std::vector<Contact> contacts;
@@ -490,7 +495,9 @@ struct HPP_FCL_DLLAPI CollisionResult : QueryResult {
 struct DistanceResult;
 
 /// @brief request to the distance computation
-struct HPP_FCL_DLLAPI DistanceRequest : QueryRequest {
+struct HPP_FCL_DLLAPI DistanceRequest
+    : QueryRequest,
+      ::hpp::fcl::serialization::Serializable<DistanceRequest> {
   /// @brief whether to return the nearest points.
   /// Nearest points are always computed and are the points of the shapes that
   /// achieve a distance of `DistanceResult::min_distance`.
@@ -556,7 +563,9 @@ struct HPP_FCL_DLLAPI DistanceRequest : QueryRequest {
 };
 
 /// @brief distance result
-struct HPP_FCL_DLLAPI DistanceResult : QueryResult {
+struct HPP_FCL_DLLAPI DistanceResult
+    : QueryResult,
+      ::hpp::fcl::serialization::Serializable<DistanceResult> {
  public:
   /// @brief minimum distance between two objects.
   /// If two objects are in collision and

include/hpp/fcl/hfield.h

@@ -37,11 +37,12 @@
 #ifndef HPP_FCL_HEIGHT_FIELD_H
 #define HPP_FCL_HEIGHT_FIELD_H
 
-#include <hpp/fcl/fwd.hh>
-#include <hpp/fcl/data_types.h>
-#include <hpp/fcl/collision_object.h>
-#include <hpp/fcl/BV/BV_node.h>
-#include <hpp/fcl/BVH/BVH_internal.h>
+#include "hpp/fcl/fwd.hh"
+#include "hpp/fcl/data_types.h"
+#include "hpp/fcl/collision_object.h"
+#include "hpp/fcl/BV/BV_node.h"
+#include "hpp/fcl/BVH/BVH_internal.h"
+#include "hpp/fcl/serialization/serializable.h"
 
 #include <vector>
 
@@ -200,14 +201,16 @@ struct UpdateBoundingVolume<AABB> {
 /// The height field is centered at the origin and the corners of the geometry
 /// correspond to the following coordinates [± x_dim/2; ± y_dim/2].
 template <typename BV>
-class HPP_FCL_DLLAPI HeightField : public CollisionGeometry {
+class HPP_FCL_DLLAPI HeightField
+    : public CollisionGeometry,
+      public ::hpp::fcl::serialization::Serializable<HeightField<BV>> {
  public:
   EIGEN_MAKE_ALIGNED_OPERATOR_NEW
 
   typedef CollisionGeometry Base;
 
   typedef HFNode<BV> Node;
-  typedef std::vector<Node, Eigen::aligned_allocator<Node> > BVS;
+  typedef std::vector<Node, Eigen::aligned_allocator<Node>> BVS;
 
   /// @brief Constructing an empty HeightField
   HeightField()
@@ -528,13 +531,13 @@ template <>
 NODE_TYPE HeightField<OBBRSS>::getNodeType() const;
 
 template <>
-NODE_TYPE HeightField<KDOP<16> >::getNodeType() const;
+NODE_TYPE HeightField<KDOP<16>>::getNodeType() const;
 
 template <>
-NODE_TYPE HeightField<KDOP<18> >::getNodeType() const;
+NODE_TYPE HeightField<KDOP<18>>::getNodeType() const;
 
 template <>
-NODE_TYPE HeightField<KDOP<24> >::getNodeType() const;
+NODE_TYPE HeightField<KDOP<24>>::getNodeType() const;
 
 /// @}
 

include/hpp/fcl/math/transform.h

@@ -38,8 +38,9 @@
 #ifndef HPP_FCL_TRANSFORM_H
 #define HPP_FCL_TRANSFORM_H
 
-#include <hpp/fcl/fwd.hh>
-#include <hpp/fcl/data_types.h>
+#include "hpp/fcl/fwd.hh"
+#include "hpp/fcl/data_types.h"
+#include "hpp/fcl/serialization/serializable.h"
 
 namespace hpp {
 namespace fcl {
@@ -53,7 +54,8 @@ static inline std::ostream& operator<<(std::ostream& o, const Quatf& q) {
 }
 
 /// @brief Simple transform class used locally by InterpMotion
-class HPP_FCL_DLLAPI Transform3f {
+class HPP_FCL_DLLAPI Transform3f
+    : public ::hpp::fcl::serialization::Serializable<Transform3f> {
   /// @brief Matrix cache
   Matrix3f R;