diff --git a/cmake b/cmake
index 441552634e4c427956be7b2834a6bbf894b24f0c..cea261e3da7d383844530070356bca76d20197a8 160000
--- a/cmake
+++ b/cmake
@@ -1 +1 @@
-Subproject commit 441552634e4c427956be7b2834a6bbf894b24f0c
+Subproject commit cea261e3da7d383844530070356bca76d20197a8
diff --git a/include/curves/piecewise_curve.h b/include/curves/piecewise_curve.h
index 582a596245bbcf6ea5aeda90c1405b411ead7fa0..f45b68b9bbff524e5ebb79a44a2db301ae0f23e6 100644
--- a/include/curves/piecewise_curve.h
+++ b/include/curves/piecewise_curve.h
@@ -337,6 +337,37 @@ struct piecewise_curve : public curve_abc<Time, Numeric, Safe, Point>
std::size_t size_; // Number of segments in piecewise curve = size of curves_
Time T_min_, T_max_;
static const double MARGIN;
+
+ public:
+ // Serialization of the class
+ friend class boost::serialization::access;
+
+ template<class Archive>
+ void serialize(Archive& ar, const unsigned int version){
+ ar & curves_;
+ ar & time_curves_;
+ ar & size_;
+ ar & T_min_ & T_max_;
+ }
+
+ template<typename Piecewise_polynomial_curve, typename Polynomial>
+ static void serialize_to_file(std::string filename, Piecewise_polynomial_curve ppc)
+ {
+ std::ofstream ofile(filename.c_str());
+ boost::archive::text_oarchive oTextArchive(ofile);
+ oTextArchive << ppc; //piecewise_curve.convert_piecewise_curve_to_polynomial<Polynomial>();
+ }
+
+ template<typename Piecewise_polynomial_curve>
+ static Piecewise_polynomial_curve deserialize_from_file(std::string filename)
+ {
+ Piecewise_polynomial_curve ppc;
+ std::ifstream ifile(filename.c_str());
+ boost::archive::text_iarchive iTextArchive(ifile);
+ iTextArchive >> ppc; // désérialisation dans d
+ return ppc;
+ }
+
};
template<typename Time, typename Numeric, std::size_t Dim, bool Safe, typename Point, typename T_Point, typename Curve>
diff --git a/include/curves/polynomial.h b/include/curves/polynomial.h
index 2cf1bbd66de18b2e9f5eb902c66749dbb8c4302a..7d60ec0727ffc7d2466f6d075a61a42566f27837 100644
--- a/include/curves/polynomial.h
+++ b/include/curves/polynomial.h
@@ -23,9 +23,14 @@
#include <functional>
#include <stdexcept>
+#include <fstream>
+#include <string>
+#include <stdexcept>
+#include <boost/archive/text_oarchive.hpp>
+#include <boost/archive/text_iarchive.hpp>
+
#include "serialization/archive.hpp"
#include "serialization/eigen-matrix.hpp"
-#include <boost/serialization/vector.hpp>
namespace curves
{
@@ -60,7 +65,9 @@ struct polynomial : public curve_abc<Time, Numeric, Safe, Point>
/// \param max : UPPER bound on interval definition of the curve.
polynomial(const coeff_t& coefficients, const time_t min, const time_t max)
: curve_abc_t(),
- coefficients_(coefficients), dim_(Dim), degree_(coefficients_.cols()-1), T_min_(min), T_max_(max)
+ coefficients_(coefficients),
+ dim_(Dim), degree_(coefficients_.cols()-1),
+ T_min_(min), T_max_(max)
{
safe_check();
}
@@ -74,7 +81,8 @@ struct polynomial : public curve_abc<Time, Numeric, Safe, Point>
polynomial(const T_Point& coefficients, const time_t min, const time_t max)
: curve_abc_t(),
coefficients_(init_coeffs(coefficients.begin(), coefficients.end())),
- dim_(Dim), degree_(coefficients_.cols()-1), T_min_(min), T_max_(max)
+ dim_(Dim), degree_(coefficients_.cols()-1),
+ T_min_(min), T_max_(max)
{
safe_check();
}
@@ -87,8 +95,9 @@ struct polynomial : public curve_abc<Time, Numeric, Safe, Point>
/// \param max : UPPER bound on interval definition of the spline.
template<typename In>
polynomial(In zeroOrderCoefficient, In out, const time_t min, const time_t max)
- :coefficients_(init_coeffs(zeroOrderCoefficient, out)),
- dim_(Dim), degree_(coefficients_.cols()-1), T_min_(min), T_max_(max)
+ : coefficients_(init_coeffs(zeroOrderCoefficient, out)),
+ dim_(Dim), degree_(coefficients_.cols()-1),
+ T_min_(min), T_max_(max)
{
safe_check();
}
@@ -103,7 +112,7 @@ struct polynomial : public curve_abc<Time, Numeric, Safe, Point>
polynomial(const polynomial& other)
: coefficients_(other.coefficients_),
dim_(other.dim_), degree_(other.degree_), T_min_(other.T_min_), T_max_(other.T_max_)
- {}
+ {}
//polynomial& operator=(const polynomial& other);
@@ -229,6 +238,37 @@ struct polynomial : public curve_abc<Time, Numeric, Safe, Point>
return res;
}
+ public:
+ // Serialization of the class
+ friend class boost::serialization::access;
+
+ template<class Archive>
+ void serialize(Archive& ar, const unsigned int version){
+ ar & coefficients_;
+ ar & dim_;
+ ar & degree_;
+ ar & T_min_ ;
+ ar & T_max_;
+ }
+
+ template<typename Polynomial>
+ static void serialize_to_file(std::string filename, Polynomial pol)
+ {
+ std::ofstream ofile(filename.c_str());
+ boost::archive::text_oarchive oTextArchive(ofile);
+ oTextArchive << pol;
+ }
+
+ template<typename Polynomial>
+ static Polynomial deserialize_from_file(std::string filename)
+ {
+ Polynomial pol;
+ std::ifstream ifile(filename.c_str());
+ boost::archive::text_iarchive iTextArchive(ifile);
+ iTextArchive >> pol; // désérialisation dans d
+ return pol;
+ }
+
}; //class polynomial
} // namespace curves
#endif //_STRUCT_POLYNOMIAL
diff --git a/include/curves/serialization/CMakeLists.txt b/include/curves/serialization/CMakeLists.txt
index 5961ad6d802763da650e61ee75540c7e60f70ef5..63009f494e7c15e14d39c141ba54b3a0232e1ee0 100644
--- a/include/curves/serialization/CMakeLists.txt
+++ b/include/curves/serialization/CMakeLists.txt
@@ -1,4 +1,5 @@
SET(${PROJECT_NAME}_SERIALIZATION_HEADERS
+ aligned-vector.hpp
archive.hpp
eigen-matrix.hpp
fwd.hpp
diff --git a/include/curves/serialization/eigen-matrix.hpp b/include/curves/serialization/eigen-matrix.hpp
index ca84a5fde37685ad55d03f44b3145af70f3b3111..e9422a44bb6b13bc6b3b3f5ca7a71bd9963a7f6b 100644
--- a/include/curves/serialization/eigen-matrix.hpp
+++ b/include/curves/serialization/eigen-matrix.hpp
@@ -35,9 +35,8 @@
namespace boost{
namespace serialization{
-
template <class Archive, typename _Scalar, int _Rows, int _Cols, int _Options, int _MaxRows, int _MaxCols>
- void save(Archive & ar, const Eigen::Matrix<_Scalar,_Rows,_Cols,_Options,_MaxRows,_MaxCols> & m, const unsigned int /*version*/)
+ void save(Archive & ar, const Eigen::Matrix<_Scalar,_Rows,_Cols,_Options,_MaxRows,_MaxCols> & m, const unsigned int) // version
{
Eigen::DenseIndex rows(m.rows()), cols(m.cols());
ar & BOOST_SERIALIZATION_NVP(rows);
@@ -46,7 +45,7 @@ namespace boost{
}
template <class Archive, typename _Scalar, int _Rows, int _Cols, int _Options, int _MaxRows, int _MaxCols>
- void load(Archive & ar, Eigen::Matrix<_Scalar,_Rows,_Cols,_Options,_MaxRows,_MaxCols> & m, const unsigned int /*version*/)
+ void load(Archive & ar, Eigen::Matrix<_Scalar,_Rows,_Cols,_Options,_MaxRows,_MaxCols> & m, const unsigned int) // version
{
Eigen::DenseIndex rows,cols;
ar >> BOOST_SERIALIZATION_NVP(rows);
@@ -61,7 +60,6 @@ namespace boost{
{
split_free(ar,m,version);
}
-
}
}
diff --git a/include/curves/serialize_test_class.h b/include/curves/serialize_test_class.h
index 35cbb78f54930d5a5a2354075bde8a3e399a9ca4..724e0f68f2bf5908e9e72016a46c5a85f556fc24 100644
--- a/include/curves/serialize_test_class.h
+++ b/include/curves/serialize_test_class.h
@@ -34,35 +34,91 @@
namespace curves
{
-struct serialize_test_class : public serialization::Serializable< serialize_test_class >
+
+template<typename Time, std::size_t Dim=3>
+struct TestStructParent {
+ TestStructParent(){}
+ virtual ~TestStructParent(){}
+};
+
+template<typename Time= double, typename Numeric=Time, std::size_t Dim=3, bool Safe=false,
+ typename Point= Eigen::Matrix<Numeric, Eigen::Dynamic, 1>, typename T_Point =std::vector<Point,Eigen::aligned_allocator<Point> > >
+struct TestStruct : public TestStructParent<Time, Dim> {//: public curve_abc<Time, Numeric, Safe, Point>{
+public:
+ TestStruct(){}
+ TestStruct(int i, std::string c, float f1, float f2, Eigen::Matrix<double, Eigen::Dynamic, 1> mat){
+ a=i;
+ s=c;
+ v.push_back(f1);
+ v.push_back(f2);
+ matrix_test = mat;
+ }
+
+ ~TestStruct()
+ {
+ // NOTHING
+ }
+
+ Point operator()(const time_t t) const
+ {
+ return Point(0);
+ }
+
+ /// \brief Evaluation of the derivative of order N of spline at time t.
+ /// \param t : the time when to evaluate the spline.
+ /// \param order : order of derivative.
+ /// \return \f$\frac{d^Nx(t)}{dt^N}\f$ point corresponding on derivative spline at time t.
+ Point derivate(const time_t t, const std::size_t order) const
+ {
+ return Point(0);
+ }
+
+ /// \brief Get the minimum time for which the curve is defined
+ /// \return \f$t_{min}\f$ lower bound of time range.
+ Numeric min() const {return 0;}
+ /// \brief Get the maximum time for which the curve is defined.
+ /// \return \f$t_{max}\f$ upper bound of time range.
+ Numeric max() const {return 0;}
+
+ template<class Archive>
+ void serialize(Archive& ar, const unsigned int version){
+ ar & a & s & v & matrix_test;
+ }
+ int a;
+ std::string s;
+ std::vector<float> v;
+ Eigen::Matrix<double, Eigen::Dynamic, 1> matrix_test;
+};
+
+struct serialize_test_class
{
public:
+ typedef Eigen::Matrix<double,1,1> point_one;
+ typedef TestStruct<double, double, 1, true, point_one> test_t;
+ test_t t1, t2;
- serialize_test_class(int a) :a_(a) {}
-
- int a_;
+ serialize_test_class()
+ {
+ Eigen::Matrix<double, 3, 1> mat1(1,2,3);
+ Eigen::Matrix<double, 3, 1> mat2(4,4,4);
+ t1 = test_t(2, std::string("essai 1"), 2.0, 3.5, mat1);
+ t2 = test_t(0, std::string("essai 2"), 0.0, 0.5, mat2);
+ }
void serialize_to_file(std::string path)
{
+ std::cout<<"serialize"<<std::endl;
std::ofstream ofile(path.c_str());
boost::archive::text_oarchive oTextArchive(ofile);
- oTextArchive << (*this); // sérialisation de d
+ oTextArchive << t1; // serialization
}
void deserialize_from_file(std::string path)
{
+ std::cout<<"deserialize"<<std::endl;
std::ifstream ifile(path.c_str());
boost::archive::text_iarchive iTextArchive(ifile);
- iTextArchive >> (*this); // désérialisation dans d
- }
-
- // Serialization of the class
- friend class boost::serialization::access;
-
- template<class Archive>
- void serialize(Archive & ar, const unsigned int version)
- {
- ar & BOOST_SERIALIZATION_NVP(a_);
+ iTextArchive >> t2; // deserialization
}
}; //class polynomial
diff --git a/python/curves_python.cpp b/python/curves_python.cpp
index 74928d787569cdc5adbc8b8502da4961bb1dc3b6..5f3c3ce4fd1c41180916d50492813dc8534ab097 100644
--- a/python/curves_python.cpp
+++ b/python/curves_python.cpp
@@ -177,6 +177,27 @@ piecewise_cubic_hermite_curve_t* wrapPiecewiseCubicHermiteCurveConstructor(const
}
/* end wrap piecewise polynomial curve */
+/* Wrap serialize and deserialize functions in Polynomial and Piecewise Polynomial curve */
+/*
+void wrapSerializePolynomial(std::string file_path, polynomial_t pol)
+{
+ polynomial_t::serialize_to_file<polynomial_t>(file_path, pol);
+}
+polynomial_t wrapDeserializePolynomial(std::string file_path)
+{
+ return polynomial_t::deserialize_from_file<polynomial_t>(file_path);
+}
+void wrapSerializePiecewisePolynomialCurve(std::string file_path, piecewise_polynomial_curve_t ppc)
+{
+ piecewise_polynomial_curve_t::serialize_to_file<piecewise_polynomial_curve_t, polynomial_t>(file_path, ppc);
+}
+piecewise_polynomial_curve_t wrapDeserializePiecewisePolynomialCurve(std::string file_path)
+{
+ return piecewise_polynomial_curve_t::deserialize_from_file<piecewise_polynomial_curve_t>(file_path);
+}
+*/
+/*End wrap serialize and deserialize functions in Polynomial and Piecewise Polynomial curve */
+
/* Wrap exact cubic spline */
t_waypoint_t getWayPoints(const coeff_t& array, const time_waypoints_t& time_wp)
{
@@ -450,6 +471,14 @@ BOOST_PYTHON_MODULE(curves)
def("hermite_from_polynomial", hermite_from_curve<cubic_hermite_spline_t, polynomial_t>);
/** END curves conversion**/
+ /** BEGIN serialization of polynomial and piecewise polynomial curve **/
+ /*
+ def("serialize_polynomial", wrapSerializePolynomial);
+ def("deserialize_polynomial", wrapDeserializePolynomial);
+ def("serialize_piecewise_polynomial_curve", wrapSerializePiecewisePolynomialCurve);
+ def("deserialize_piecewise_polynomial_curve", wrapDeserializePiecewisePolynomialCurve);
+ */
+ /** END serialization of polynomial and piecewise polynomial curve **/
}
diff --git a/python/test/test.py b/python/test/test.py
index a8d23feda748b85cc3646daf6ac4558e14c5d08d..4718481772b3d26f358b626d3d06dd9206efdc41 100644
--- a/python/test/test.py
+++ b/python/test/test.py
@@ -3,11 +3,14 @@ import unittest
from numpy import matrix
from numpy.linalg import norm
+#from curves import ( serialize_polynomial, deserialize_polynomial, serialize_piecewise_polynomial_curve, deserialize_piecewise_polynomial_curve )
+
from curves import (bezier3, bezier6, bezier_from_hermite, bezier_from_polynomial, cubic_hermite_spline,
curve_constraints, exact_cubic, hermite_from_bezier, hermite_from_polynomial,
piecewise_bezier3_curve, piecewise_bezier6_curve, piecewise_cubic_hermite_curve,
piecewise_polynomial_curve, polynomial, polynomial_from_bezier, polynomial_from_hermite)
+#import curves
class TestCurves(unittest.TestCase):
#def print_str(self, inStr):
@@ -81,7 +84,7 @@ class TestCurves(unittest.TestCase):
def test_polynomial(self):
# To test :
- # - Functions : constructor, min, max, derivate
+ # - Functions : constructor, min, max, derivate, serialize, deserialize
waypoints = matrix([[1., 2., 3.], [4., 5., 6.]]).transpose()
a = polynomial(waypoints) # Defined on [0.,1.]
a = polynomial(waypoints, -1., 3.) # Defined on [-1.,3.]
@@ -90,11 +93,15 @@ class TestCurves(unittest.TestCase):
a(0.4)
self.assertTrue((a.derivate(0.4, 0) == a(0.4)).all())
a.derivate(0.4, 2)
+ # Test serialization
+ #serialize_polynomial("serialize_polynomial.test",a);
+ #b = deserialize_polynomial("serialize_polynomial.test");
+ #self.assertTrue((a(0.4) == b(0.4)).all())
return
def test_piecewise_polynomial_curve(self):
# To test :
- # - Functions : constructor, min, max, derivate, add_curve, is_continuous
+ # - Functions : constructor, min, max, derivate, add_curve, is_continuous, serialize, deserialize
waypoints1 = matrix([[1., 1., 1.]]).transpose()
waypoints2 = matrix([[1., 1., 1.], [1., 1., 1.]]).transpose()
a = polynomial(waypoints1, 0., 1.)
@@ -108,6 +115,10 @@ class TestCurves(unittest.TestCase):
ppc.derivate(0.4, 2)
ppc.is_continuous(0)
ppc.is_continuous(1)
+ # Test serialization
+ #serialize_piecewise_polynomial_curve("serialize_ppc.test",ppc);
+ #ppc2 = deserialize_piecewise_polynomial_curve("serialize_ppc.test");
+ #self.assertTrue((ppc(0.4) == ppc2(0.4)).all())
return
def test_piecewise_bezier3_curve(self):
diff --git a/tests/Main.cpp b/tests/Main.cpp
index d85d9ab4097575bff4dda18b0d534612dc176eae..800dfb53cec8ef8f731212be8807d443af517e14 100644
--- a/tests/Main.cpp
+++ b/tests/Main.cpp
@@ -1441,7 +1441,8 @@ void piecewiseCurveConversionFromDiscretePointsTest(bool& error)
void serializationPiecewisePolynomialCurveTest(bool& error)
{
- std::string errmsg1("in serializationPiecewisePolynomialCurveTest, Error While serializing : ");
+ std::string errMsg1("in serializationPiecewisePolynomialCurveTest, Error While serializing Polynomials : ");
+ std::string errMsg2("in serializationPiecewisePolynomialCurveTest, Error While serializing Piecewise curves : ");
point_t a(1,1,1); // in [0,1[
point_t b(2,1,1); // in [1,2[
point_t c(3,1,1); // in [2,3]
@@ -1457,32 +1458,30 @@ void serializationPiecewisePolynomialCurveTest(bool& error)
piecewise_polynomial_curve_t pc_test = pc;
pc.add_curve(pol2);
pc.add_curve(pol3);
- // Test serialization
- std::string fileName("./testSerialization/fileTest");
- //piecewise_polynomial_curve_t::serializeToFile<piecewise_polynomial_curve_t, polynomial_t>(pc, fileName);
- //pc.saveAsText(fileName);
+ std::string fileName("fileTest.test");
+
+ // Test serialization on Polynomial
+ std::cout<<"Serialize test : Polynomial => ";
+ polynomial_t::serialize_to_file<polynomial_t>(fileName, pol1);
+ polynomial_t pol_test = pol2;
+ pol_test = polynomial_t::deserialize_from_file<polynomial_t>(fileName);
+ CompareCurves<polynomial_t, polynomial_t>(pol1, pol_test, errMsg1, error);
+ std::cout<<"OK"<<std::endl;
+
+ // Test serialization on Piecewise curves
+ std::cout<<"Serialize test : Piecewise polynomial curve => ";
+ piecewise_polynomial_curve_t::serialize_to_file<piecewise_polynomial_curve_t, polynomial_t>(fileName, pc);
// Test deserialization
- /*
- piecewise_polynomial_curve_t pc_deserialized = piecewise_polynomial_curve_t
- ::deserializeFromFile<piecewise_polynomial_curve_t, polynomial_t>(fileName);
- */
- //pc_test.loadFromText(fileName);
- //pol1.saveAsText(fileName);
-
- serialize_test_class stc(10);
- stc.serialize_to_file(fileName);
-
- serialize_test_class stc2(0);
- stc2.deserialize_from_file(fileName);
-
- std::cout<<"Test ok : "<<stc2.a_<<std::endl;
+ piecewise_polynomial_curve_t ppc_deserialized = piecewise_polynomial_curve_t
+ ::deserialize_from_file<piecewise_polynomial_curve_t>(fileName);
+ CompareCurves<piecewise_polynomial_curve_t,piecewise_polynomial_curve_t>(pc, ppc_deserialized, errMsg2, error);
+ std::cout<<"OK"<<std::endl;
}
int main(int /*argc*/, char** /*argv[]*/)
{
std::cout << "performing tests... \n";
bool error = false;
-
CubicFunctionTest(error);
ExactCubicNoErrorTest(error);
ExactCubicPointsCrossedTest(error); // checks that given wayPoints are crossed
@@ -1507,6 +1506,7 @@ int main(int /*argc*/, char** /*argv[]*/)
toPolynomialConversionTest(error);
cubicConversionTest(error);
curveAbcDimDynamicTest(error);
+ serializationPiecewisePolynomialCurveTest(error);
if(error)
{