[exact_cubic] Add serialization for exact cubic / binding python => Test OK

include/curves/exact_cubic.h

@@ -32,6 +32,9 @@
 #include <functional>
 #include <vector>
 
+#include "serialization/archive.hpp"
+#include "serialization/eigen-matrix.hpp"
+
 namespace curves
 {
 /// \class ExactCubic.
@@ -41,7 +44,8 @@ namespace curves
 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> >
 , typename SplineBase=polynomial<Time, Numeric, Dim, Safe, Point, T_Point> >
-struct exact_cubic : public piecewise_curve<Time, Numeric, Dim, Safe, Point, T_Point, SplineBase>
+struct exact_cubic : public piecewise_curve<Time, Numeric, Dim, Safe, Point, T_Point, SplineBase>//,
+                     //public serialization::Serializable< exact_cubic<Time, Numeric, Dim, Safe, Point, T_Point, SplineBase> >
 {
     typedef Point   point_t;
     typedef T_Point t_point_t;
@@ -55,10 +59,14 @@ struct exact_cubic : public piecewise_curve<Time, Numeric, Dim, Safe, Point, T_P
     typedef typename t_spline_t::const_iterator cit_spline_t;
     typedef curve_constraints<Point, Dim> spline_constraints;
 
+    typedef exact_cubic<Time, Numeric, Dim, Safe, Point, T_Point, SplineBase> exact_cubic_t;
     typedef piecewise_curve<Time, Numeric, Dim, Safe, Point, T_Point, SplineBase> piecewise_curve_t;
 
     /* Constructors - destructors */
     public:
+
+    exact_cubic(){}
+
     /// \brief Constructor.
     /// \param wayPointsBegin : an iterator pointing to the first element of a waypoint container.
     /// \param wayPointsEns   : an iterator pointing to the last element of a waypoint container.
@@ -253,6 +261,15 @@ struct exact_cubic : public piecewise_curve<Time, Numeric, Dim, Safe, Point, T_P
         subSplines.push_back(create_quintic<Time,Numeric,Dim,Safe,Point,T_Point>
                              (a0,b0,c0,d,e,f, init_t, end_t));
     }
+
+    public:
+    // Serialization of the class
+    friend class boost::serialization::access;
+
+    template<class Archive>
+    void serialize(Archive& ar, const unsigned int version){
+        ar & BOOST_SERIALIZATION_BASE_OBJECT_NVP(exact_cubic_t);
+    }
 };
 } // namespace curves
 #endif //_CLASS_EXACTCUBIC

python/curves_python.cpp

@@ -408,7 +408,7 @@ BOOST_PYTHON_MODULE(curves)
 
     /** BEGIN exact_cubic curve**/
     class_<exact_cubic_t>
-        ("exact_cubic", no_init)
+        ("exact_cubic", init<>())
             .def("__init__", make_constructor(&wrapExactCubicConstructor))
             .def("__init__", make_constructor(&wrapExactCubicConstructorConstraint))
             .def("min", &exact_cubic_t::min)
@@ -417,6 +417,7 @@ BOOST_PYTHON_MODULE(curves)
             .def("derivate", &exact_cubic_t::derivate)
             .def("getNumberSplines", &exact_cubic_t::getNumberSplines)
             .def("getSplineAt", &exact_cubic_t::getSplineAt)
+            .def(SerializableVisitor<exact_cubic_t>())
         ;
     /** END exact_cubic curve**/
 

python/test/test.py

@@ -238,6 +238,11 @@ class TestCurves(unittest.TestCase):
         a.derivate(0.4, 2)
         a.getNumberSplines()
         a.getSplineAt(0)
+        # Test serialization
+        a.saveAsText("serialization_pc.test")
+        b = exact_cubic()
+        b.loadFromText("serialization_pc.test")
+        self.assertTrue((a(0.4) == b(0.4)).all())
         return
 
     def test_exact_cubic_constraint(self):

tests/Main.cpp

@@ -1443,6 +1443,7 @@ void serializationCurvesTest(bool& error)
     std::string errMsg2("in serializationCurveTest, Error While serializing Bezier : ");
     std::string errMsg3("in serializationCurveTest, Error While serializing Cubic Hermite : ");
     std::string errMsg4("in serializationCurveTest, Error While serializing Piecewise curves : ");
+    std::string errMsg5("in serializationCurveTest, Error While serializing Exact cubic : ");
     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]
@@ -1494,6 +1495,23 @@ void serializationCurvesTest(bool& error)
     piecewise_cubic_hermite_curve_t pchc_test;
     pchc_test.loadFromText(fileName);
     CompareCurves<piecewise_polynomial_curve_t,piecewise_cubic_hermite_curve_t>(ppc, pchc_test, errMsg4, error);
+
+    // Test serialization on exact cubic
+    curves::T_Waypoint waypoints;
+    for(double i = 0; i <= 1; i = i + 0.2)
+    {
+        waypoints.push_back(std::make_pair(i,point_t(i,i,i)));
+    }
+    spline_constraints_t constraints;
+    constraints.end_vel = point_t(0,0,0);
+    constraints.init_vel = point_t(0,0,0);
+    constraints.end_acc = point_t(0,0,0);
+    constraints.init_acc = point_t(0,0,0);
+    exact_cubic_t ec(waypoints.begin(), waypoints.end(), constraints);
+    ec.saveAsText(fileName);
+    exact_cubic_t ec_test;
+    ec_test.loadFromText(fileName);
+    CompareCurves<exact_cubic_t,exact_cubic_t>(ec, ec_test, errMsg5, error);
 }
 
 int main(int /*argc*/, char** /*argv[]*/)