From d5170eeb3fbdbc74de75297c702283aa41e0f08f Mon Sep 17 00:00:00 2001
From: JasonChmn <jason.chemin@hotmail.fr>
Date: Wed, 7 Aug 2019 14:01:37 +0200
Subject: [PATCH] Use serialization/archive functions for serialization /
Delete test class for serialization / Make test ok (not python test for
serialization)
---
include/curves/CMakeLists.txt | 1 -
include/curves/piecewise_curve.h | 64 +------------
include/curves/polynomial.h | 32 ++-----
include/curves/serialize_test_class.h | 127 --------------------------
python/curves_python.cpp | 32 +------
python/test/test.py | 6 +-
tests/Main.cpp | 15 ++-
7 files changed, 23 insertions(+), 254 deletions(-)
delete mode 100644 include/curves/serialize_test_class.h
diff --git a/include/curves/CMakeLists.txt b/include/curves/CMakeLists.txt
index f98dcca..aff5762 100644
--- a/include/curves/CMakeLists.txt
+++ b/include/curves/CMakeLists.txt
@@ -12,7 +12,6 @@ SET(${PROJECT_NAME}_HEADERS
linear_variable.h
cubic_hermite_spline.h
piecewise_curve.h
- serialize_test_class.h
)
INSTALL(FILES
diff --git a/include/curves/piecewise_curve.h b/include/curves/piecewise_curve.h
index f45b68b..0d5b963 100644
--- a/include/curves/piecewise_curve.h
+++ b/include/curves/piecewise_curve.h
@@ -28,7 +28,8 @@ template<typename Time= double, typename Numeric=Time, std::size_t Dim=3, bool S
typename T_Point= std::vector<Point,Eigen::aligned_allocator<Point> >,
typename Curve= curve_abc<Time, Numeric, Safe, Point>
>
-struct piecewise_curve : public curve_abc<Time, Numeric, Safe, Point>
+struct piecewise_curve : public curve_abc<Time, Numeric, Safe, Point>,
+ public serialization::Serializable< piecewise_curve<Time, Numeric, Dim, Safe, Point, T_Point, Curve> >
{
typedef Point point_t;
typedef T_Point t_point_t;
@@ -236,50 +237,7 @@ struct piecewise_curve : public curve_abc<Time, Numeric, Safe, Point>
ppc.add_curve(Polynomial(coeffs,time_actual,T_max));
return ppc;
}
-/*
- template <typename Piecewise_curve, typename Polynomial>
- static void serializeToFile(Piecewise_curve pc, std::string file_path)
- {
- // Get piecewise polynomial curve corresponding
- piecewise_curve<Time, Numeric, Dim, Safe, Point, T_Point, Polynomial> ppc = pc.convert_piecewise_curve_to_polynomial<Polynomial>();
- // Serialize
- std::ofstream ofs(file_path.c_str());
- if(ofs)
- {
- boost::archive::binary_oarchive oa(ofs);
- oa << ppc;
- }
- else
- {
- throw "PiecewiseCurve, Error while serializing to file";
- }
- ofs.close();
- }
- template <typename Piecewise_polynomial_curve, typename Polynomial>
- static Piecewise_polynomial_curve deserializeFromFile(std::string file_path)
- {
- // Get a piecewise polynomial curve
- point_t p;
- t_point_t t_p;
- t_p.push_back(p);
- Polynomial pol(t_p.begin(), t_p.end(),0,1);
- Piecewise_polynomial_curve ppc(pol);
- // Deserialize in it
- std::ifstream ifs(file_path.c_str());
- if(ifs)
- {
- boost::archive::binary_iarchive ia(ifs);
- ia >> ppc;
- }
- else
- {
- throw "PiecewiseCurve, Error while deserializing from file";
- }
- ifs.close();
- return ppc;
- }
-*/
private:
/// \brief Get index of the interval corresponding to time t for the interpolation.
@@ -350,24 +308,6 @@ struct piecewise_curve : public curve_abc<Time, Numeric, Safe, Point>
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 7d60ec0..5a028b4 100644
--- a/include/curves/polynomial.h
+++ b/include/curves/polynomial.h
@@ -42,7 +42,8 @@ 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> > >
-struct polynomial : public curve_abc<Time, Numeric, Safe, Point>
+struct polynomial : public curve_abc<Time, Numeric, Safe, Point>,
+ public serialization::Serializable< polynomial<Time, Numeric, Dim, Safe, Point, T_Point> >
{
typedef Point point_t;
typedef T_Point t_point_t;
@@ -244,32 +245,15 @@ struct polynomial : public curve_abc<Time, Numeric, Safe, Point>
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;
+ ar & boost::serialization::make_nvp("coefficients", coefficients_);
+ ar & boost::serialization::make_nvp("dim", dim_);
+ ar & boost::serialization::make_nvp("degree", degree_);
+ ar & boost::serialization::make_nvp("T_min", T_min_);
+ ar & boost::serialization::make_nvp("T_max", T_max_);
}
}; //class polynomial
+
} // namespace curves
#endif //_STRUCT_POLYNOMIAL
diff --git a/include/curves/serialize_test_class.h b/include/curves/serialize_test_class.h
deleted file mode 100644
index 724e0f6..0000000
--- a/include/curves/serialize_test_class.h
+++ /dev/null
@@ -1,127 +0,0 @@
-/**
-* \file polynomial.h
-* \brief Definition of a cubic spline.
-* \author Steve T.
-* \version 0.1
-* \date 06/17/2013
-*
-* This file contains definitions for the polynomial struct.
-* It allows the creation and evaluation of natural
-* smooth splines of arbitrary dimension and order
-*/
-
-
-#ifndef _STRUCT_TEST_SER
-#define _STRUCT_TEST_SER
-
-#include "MathDefs.h"
-
-#include "curve_abc.h"
-
-#include <iostream>
-#include <algorithm>
-#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"
-
-namespace curves
-{
-
-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()
- {
- 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 << 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 >> t2; // deserialization
- }
-
-}; //class polynomial
-} // namespace curves
-#endif //_STRUCT_POLYNOMIAL
-
diff --git a/python/curves_python.cpp b/python/curves_python.cpp
index 5f3c3ce..84498a7 100644
--- a/python/curves_python.cpp
+++ b/python/curves_python.cpp
@@ -9,6 +9,7 @@
#include "python_definitions.h"
#include "python_variables.h"
+#include "archive_python_binding.h"
#include <vector>
@@ -177,27 +178,6 @@ 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)
{
@@ -371,6 +351,7 @@ BOOST_PYTHON_MODULE(curves)
.def("max", &polynomial_t::max)
.def("__call__", &polynomial_t::operator())
.def("derivate", &polynomial_t::derivate)
+ //.def(SerializableVisitor<polynomial_t>())
;
/** END polynomial function**/
@@ -471,15 +452,6 @@ 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 **/
-
}
} // namespace curves
diff --git a/python/test/test.py b/python/test/test.py
index 4718481..6e5782c 100644
--- a/python/test/test.py
+++ b/python/test/test.py
@@ -94,8 +94,10 @@ class TestCurves(unittest.TestCase):
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");
+ #a.saveAsText("serialiation_polynomial.test")
+ #waypoints = matrix([[0,0,0,], [0,0,0,]]).transpose()
+ #b = polynomial(waypoints)
+ #b.loadFromText("serialiation_polynomial.test")
#self.assertTrue((a(0.4) == b(0.4)).all())
return
diff --git a/tests/Main.cpp b/tests/Main.cpp
index 800dfb5..0a058b8 100644
--- a/tests/Main.cpp
+++ b/tests/Main.cpp
@@ -8,8 +8,6 @@
#include "curves/cubic_hermite_spline.h"
#include "curves/piecewise_curve.h"
-#include "curves/serialize_test_class.h"
-
#include <string>
#include <iostream>
#include <cmath>
@@ -1462,18 +1460,19 @@ void serializationPiecewisePolynomialCurveTest(bool& error)
// 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);
+ pol1.saveAsText(fileName);
+ // Test deserialization
+ polynomial_t pol_test;
+ pol_test.loadFromText(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);
+ pc.saveAsText(fileName);
// Test deserialization
- piecewise_polynomial_curve_t ppc_deserialized = piecewise_polynomial_curve_t
- ::deserialize_from_file<piecewise_polynomial_curve_t>(fileName);
+ piecewise_polynomial_curve_t ppc_deserialized;
+ ppc_deserialized.loadFromText(fileName);
CompareCurves<piecewise_polynomial_curve_t,piecewise_polynomial_curve_t>(pc, ppc_deserialized, errMsg2, error);
std::cout<<"OK"<<std::endl;
}
--
GitLab