Merge pull request #46 from pFernbach/topic/serialization_version

serialization version

CMakeLists.txt

@@ -25,6 +25,7 @@ INCLUDE(cmake/python.cmake)
 # Project definition
 COMPUTE_PROJECT_ARGS(PROJECT_ARGS LANGUAGES CXX)
 PROJECT(${PROJECT_NAME} ${PROJECT_ARGS})
+SET(CMAKE_CXX_STANDARD 11)
 
 # Project dependencies
 ADD_PROJECT_DEPENDENCY(Eigen3 REQUIRED PKG_CONFIG_REQUIRES eigen3)

include/curves/bernstein.h

@@ -93,4 +93,7 @@ std::vector<Bern<Numeric> > makeBernstein(const unsigned int n) {
   return res;
 }
 }  // namespace curves
+
+DEFINE_CLASS_TEMPLATE_VERSION(typename Numeric, curves::Bern<Numeric>)
+
 #endif  //_CLASS_BERNSTEIN

include/curves/bezier_curve.h

@@ -516,4 +516,8 @@ template <typename Time, typename Numeric, bool Safe, typename Point>
 const double bezier_curve<Time, Numeric, Safe, Point>::MARGIN(0.001);
 
 }  // namespace curves
+
+DEFINE_CLASS_TEMPLATE_VERSION(SINGLE_ARG(typename Time, typename Numeric, bool Safe, typename Point),
+                              SINGLE_ARG(curves::bezier_curve<Time, Numeric, Safe, Point>))
+
 #endif  //_CLASS_BEZIERCURVE

include/curves/constant_curve.h

@@ -171,4 +171,7 @@ struct constant_curve : public curve_abc<Time, Numeric, Safe, Point, Point_deriv
 };  // struct constant_curve
 }  // namespace curves
 
+DEFINE_CLASS_TEMPLATE_VERSION(SINGLE_ARG(typename Time, typename Numeric, bool Safe, typename Point, typename Point_derivate),
+                              SINGLE_ARG(curves::constant_curve<Time, Numeric, Safe, Point, Point_derivate>))
+
 #endif  // _CLASS_CONSTANTCURVE

include/curves/cubic_hermite_spline.h

@@ -367,4 +367,7 @@ struct cubic_hermite_spline : public curve_abc<Time, Numeric, Safe, Point> {
   }
 };  // End struct Cubic hermite spline
 }  // namespace curves
+
+DEFINE_CLASS_TEMPLATE_VERSION(SINGLE_ARG(typename Time, typename Numeric, bool Safe, typename Point),
+                              SINGLE_ARG(curves::cubic_hermite_spline<Time, Numeric, Safe, Point>))
 #endif  //_CLASS_CUBICHERMITESPLINE

include/curves/curve_abc.h

@@ -14,9 +14,9 @@
 #include "MathDefs.h"
 #include "serialization/archive.hpp"
 #include "serialization/eigen-matrix.hpp"
+#include "serialization/registeration.hpp"
 #include <boost/serialization/shared_ptr.hpp>
 #include <boost/smart_ptr/shared_ptr.hpp>
-
 #include <functional>
 
 namespace curves {
@@ -136,7 +136,8 @@ struct curve_abc : std::unary_function<Time, Point>, public serialization::Seria
   // Serialization of the class
   friend class boost::serialization::access;
   template <class Archive>
-  void serialize(Archive& /*ar*/, const unsigned int version) {
+  void serialize(Archive& ar, const unsigned int version) {
+    serialization::register_types<Archive>(ar, version);
     if (version) {
       // Do something depending on version ?
     }
@@ -144,4 +145,7 @@ struct curve_abc : std::unary_function<Time, Point>, public serialization::Seria
 };
 BOOST_SERIALIZATION_ASSUME_ABSTRACT(curve_abc)
 }  // namespace curves
+
+DEFINE_CLASS_TEMPLATE_VERSION(SINGLE_ARG(typename Time, typename Numeric, bool Safe, typename Point, typename Point_derivate),
+                              SINGLE_ARG(curves::curve_abc<Time, Numeric, Safe, Point, Point_derivate>))
 #endif  //_STRUCT_CURVE_ABC

include/curves/exact_cubic.h

@@ -309,4 +309,8 @@ struct exact_cubic : public piecewise_curve<Time, Numeric, Safe, Point> {
   }
 };
 }  // namespace curves
+
+DEFINE_CLASS_TEMPLATE_VERSION(SINGLE_ARG(typename Time, typename Numeric, bool Safe, typename Point,
+                                         typename T_Point, typename SplineBase),
+                              SINGLE_ARG(curves::exact_cubic<Time, Numeric, Safe, Point, T_Point, SplineBase>))
 #endif  //_CLASS_EXACTCUBIC

include/curves/linear_variable.h

@@ -183,4 +183,7 @@ BezierFixed evaluateLinear(const BezierLinear& bIn, const X x) {
 }
 
 }  // namespace curves
+
+DEFINE_CLASS_TEMPLATE_VERSION(SINGLE_ARG(typename Numeric, bool Safe),
+                              SINGLE_ARG(curves::linear_variable<Numeric, Safe>))
 #endif  //_CLASS_LINEAR_VARIABLE

include/curves/piecewise_curve.h

@@ -608,4 +608,8 @@ const double piecewise_curve<Time, Numeric, Safe, Point, Point_derivate, CurveTy
 
 }  // namespace curves
 
+DEFINE_CLASS_TEMPLATE_VERSION(SINGLE_ARG(typename Time, typename Numeric, bool Safe, typename Point,
+                                         typename Point_derivate, typename CurveType),
+                              SINGLE_ARG(curves::piecewise_curve<Time, Numeric, Safe, Point, Point_derivate, CurveType>))
+
 #endif  // _CLASS_PIECEWISE_CURVE

include/curves/polynomial.h

@@ -440,4 +440,7 @@ struct polynomial : public curve_abc<Time, Numeric, Safe, Point> {
 };  // class polynomial
 
 }  // namespace curves
+
+DEFINE_CLASS_TEMPLATE_VERSION(SINGLE_ARG(typename Time, typename Numeric, bool Safe, typename Point, typename T_Point),
+                              SINGLE_ARG(curves::polynomial<Time, Numeric, Safe, Point, T_Point>))
 #endif  //_STRUCT_POLYNOMIAL

include/curves/se3_curve.h

@@ -258,4 +258,7 @@ struct SE3Curve : public curve_abc<Time, Numeric, Safe, Eigen::Transform<Numeric
 
 }  // namespace curves
 
+DEFINE_CLASS_TEMPLATE_VERSION(SINGLE_ARG(typename Time, typename Numeric, bool Safe),
+                              SINGLE_ARG(curves::SE3Curve<Time, Numeric, Safe>))
+
 #endif  // SE3_CURVE_H

include/curves/serialization/archive.hpp

@@ -12,7 +12,27 @@
 #include <boost/archive/xml_oarchive.hpp>
 #include <boost/archive/binary_iarchive.hpp>
 #include <boost/archive/binary_oarchive.hpp>
-#include "registeration.hpp"
+#include <boost/serialization/version.hpp>
+
+/* Define the current version number for the serialization
+ * Must be increased everytime the save() method of a class is modified
+ * Or when a change is made to register_types()
+ * */
+const unsigned int CURVES_API_VERSION = 1;
+
+#define SINGLE_ARG(...) __VA_ARGS__ // Macro used to be able to put comma in the following macro arguments
+// Macro used to define the serialization version of a templated class
+#define DEFINE_CLASS_TEMPLATE_VERSION(Template, Type)  \
+  namespace boost {                                    \
+  namespace serialization {                            \
+  template <Template>                                  \
+  struct version<Type> {                               \
+    static constexpr unsigned int value = CURVES_API_VERSION; \
+  };                                                   \
+  template <Template>                                  \
+  constexpr unsigned int version<Type>::value;         \
+  }                                                    \
+  }
 
 namespace curves {
 namespace serialization {
@@ -34,7 +54,6 @@ struct Serializable {
     std::ifstream ifs(filename.c_str());
     if (ifs) {
       boost::archive::text_iarchive ia(ifs);
-      register_types<boost::archive::text_iarchive>(ia);
       ia >> derived<Derived>();
     } else {
       const std::string exception_message(filename + " does not seem to be a valid file.");
@@ -48,7 +67,6 @@ struct Serializable {
     std::ofstream ofs(filename.c_str());
     if (ofs) {
       boost::archive::text_oarchive oa(ofs);
-      register_types<boost::archive::text_oarchive>(oa);
       oa << derived<Derived>();
     } else {
       const std::string exception_message(filename + " does not seem to be a valid file.");
@@ -65,7 +83,6 @@ struct Serializable {
     std::ifstream ifs(filename.c_str());
     if (ifs) {
       boost::archive::xml_iarchive ia(ifs);
-      register_types<boost::archive::xml_iarchive>(ia);
       ia >> boost::serialization::make_nvp(tag_name.c_str(), derived<Derived>());
     } else {
       const std::string exception_message(filename + " does not seem to be a valid file.");
@@ -82,7 +99,6 @@ struct Serializable {
     std::ofstream ofs(filename.c_str());
     if (ofs) {
       boost::archive::xml_oarchive oa(ofs);
-      register_types<boost::archive::xml_oarchive>(oa);
       oa << boost::serialization::make_nvp(tag_name.c_str(), derived<Derived>());
     } else {
       const std::string exception_message(filename + " does not seem to be a valid file.");
@@ -96,7 +112,6 @@ struct Serializable {
     std::ifstream ifs(filename.c_str());
     if (ifs) {
       boost::archive::binary_iarchive ia(ifs);
-      register_types<boost::archive::binary_iarchive>(ia);
       ia >> derived<Derived>();
     } else {
       const std::string exception_message(filename + " does not seem to be a valid file.");
@@ -110,7 +125,6 @@ struct Serializable {
     std::ofstream ofs(filename.c_str());
     if (ofs) {
       boost::archive::binary_oarchive oa(ofs);
-      register_types<boost::archive::binary_oarchive>(oa);
       oa << derived<Derived>();
     } else {
       const std::string exception_message(filename + " does not seem to be a valid file.");

include/curves/serialization/registeration.hpp

@@ -30,24 +30,26 @@ namespace curves {
 namespace serialization {
 
 template <class Archive>
-void register_types(Archive& ar) {
+void register_types(Archive& ar,  const unsigned int version) {
   // register derived class
   ar.template register_type<polynomial_t>();
   ar.template register_type<exact_cubic_t>();
   ar.template register_type<bezier_t>();
-  ar.template register_type<constant_t>();
   ar.template register_type<cubic_hermite_spline_t>();
   ar.template register_type<piecewise_t>();
   ar.template register_type<polynomial3_t>();
   ar.template register_type<exact_cubic3_t>();
   ar.template register_type<bezier3_t>();
-  ar.template register_type<constant3_t>();
   ar.template register_type<cubic_hermite_spline3_t>();
   ar.template register_type<piecewise3_t>();
   ar.template register_type<SO3Linear_t>();
   ar.template register_type<SE3Curve_t>();
-  ar.template register_type<sinusoidal_t>();
   ar.template register_type<piecewise_SE3_t>();
+  if(version >= 1){
+    ar.template register_type<constant3_t>();
+    ar.template register_type<sinusoidal_t>();
+    ar.template register_type<constant_t>();
+  }
 }
 
 }  // namespace serialization

include/curves/sinusoidal.h

@@ -213,4 +213,7 @@ struct sinusoidal : public curve_abc<Time, Numeric, Safe, Point> {
 };  // struct sinusoidal
 }  // namespace curves
 
+DEFINE_CLASS_TEMPLATE_VERSION(SINGLE_ARG(typename Time, typename Numeric, bool Safe, typename Point),
+                              SINGLE_ARG(curves::sinusoidal<Time, Numeric, Safe, Point>))
+
 #endif  // _CLASS_SINUSOIDALCURVE

include/curves/so3_linear.h

@@ -302,4 +302,7 @@ struct SO3Linear : public curve_abc<Time, Numeric, Safe, matrix3_t, point3_t > {
 
 }  // namespace curves
 
+DEFINE_CLASS_TEMPLATE_VERSION(SINGLE_ARG(typename Time, typename Numeric, bool Safe),
+                              SINGLE_ARG(curves::SO3Linear<Time, Numeric, Safe>))
+
 #endif  // _STRUCT_SO3_LINEAR_H

python/curves/curves_python.cpp

@@ -94,7 +94,6 @@ struct curve_pickle_suite : pickle_suite {
     static object getstate (const Curve& curve) {
         std::ostringstream os;
         boost::archive::text_oarchive oa(os);
-        curves::serialization::register_types(oa);
         oa << curve;
         return str(os.str());
     }
@@ -105,7 +104,6 @@ struct curve_pickle_suite : pickle_suite {
         std::string st = extract<std::string> (s)();
         std::istringstream is (st);
         boost::archive::text_iarchive ia (is);
-        curves::serialization::register_types(ia);
         ia >> curve;
     }
 };