Add serialization

tesseract-robotics · Dec 18, 2024 · f53935d · f53935d
1 parent 6cbcafe
commit f53935d
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Showing 6 changed files with 63 additions and 0 deletions.
diff --git a/...ract_motion_planners/simple/profile/simple_planner_fixed_size_assign_no_ik_plan_profile.h b/...ract_motion_planners/simple/profile/simple_planner_fixed_size_assign_no_ik_plan_profile.h
@@ -56,8 +56,15 @@ class SimplePlannerFixedSizeAssignNoIKPlanProfile : public SimplePlannerPlanProf
 
   /** @brief The number of steps to use for linear instruction */
   int linear_steps;
+
+protected:
+  friend class boost::serialization::access;
+  template <class Archive>
+  void serialize(Archive&, const unsigned int);  // NOLINT
 };
 
 }  // namespace tesseract_planning
 
+BOOST_CLASS_EXPORT_KEY(tesseract_planning::SimplePlannerFixedSizeAssignNoIKPlanProfile)
+
 #endif  // TESSERACT_MOTION_PLANNERS_SIMPLE_FIXED_SIZE_ASSIGN_NO_IK_PLAN_PROFILE_H
diff --git a/...e/tesseract_motion_planners/simple/profile/simple_planner_lvs_assign_no_ik_plan_profile.h b/...e/tesseract_motion_planners/simple/profile/simple_planner_lvs_assign_no_ik_plan_profile.h
@@ -74,8 +74,15 @@ class SimplePlannerLVSAssignNoIKPlanProfile : public SimplePlannerPlanProfile
 
   /** @brief The maximum number of steps for the plan */
   int max_steps;
+
+protected:
+  friend class boost::serialization::access;
+  template <class Archive>
+  void serialize(Archive&, const unsigned int);  // NOLINT
 };
 
 }  // namespace tesseract_planning
 
+BOOST_CLASS_EXPORT_KEY(tesseract_planning::SimplePlannerLVSAssignNoIKPlanProfile)
+
 #endif  // TESSERACT_MOTION_PLANNERS_SIMPLE_PLANNER_LVS_ASSIGN_NO_IK_PLAN_PROFILE_H
diff --git a/...include/tesseract_motion_planners/simple/profile/simple_planner_lvs_assign_plan_profile.h b/...include/tesseract_motion_planners/simple/profile/simple_planner_lvs_assign_plan_profile.h
@@ -74,8 +74,15 @@ class SimplePlannerLVSAssignPlanProfile : public SimplePlannerPlanProfile
 
   /** @brief The maximum number of steps for the plan */
   int max_steps;
+
+protected:
+  friend class boost::serialization::access;
+  template <class Archive>
+  void serialize(Archive&, const unsigned int);  // NOLINT
 };
 
 }  // namespace tesseract_planning
 
+BOOST_CLASS_EXPORT_KEY(tesseract_planning::SimplePlannerLVSAssignPlanProfile)
+
 #endif  // TESSERACT_MOTION_PLANNERS_SIMPLE_PLANNER_LVS_ASSIGN_PLAN_PROFILE_H
diff --git a/...otion_planners/simple/src/profile/simple_planner_fixed_size_assign_no_ik_plan_profile.cpp b/...otion_planners/simple/src/profile/simple_planner_fixed_size_assign_no_ik_plan_profile.cpp
@@ -125,4 +125,16 @@ std::vector<MoveInstructionPoly> SimplePlannerFixedSizeAssignNoIKPlanProfile::ge
   return getInterpolatedInstructions(base.manip->getJointNames(), states, base.instruction);
 }
 
+template <class Archive>
+void SimplePlannerFixedSizeAssignNoIKPlanProfile::serialize(Archive& ar, const unsigned int /*version*/)
+{
+  ar& BOOST_SERIALIZATION_BASE_OBJECT_NVP(SimplePlannerPlanProfile);
+  ar& BOOST_SERIALIZATION_NVP(freespace_steps);
+  ar& BOOST_SERIALIZATION_NVP(linear_steps);
+}
+
 }  // namespace tesseract_planning
+
+#include <tesseract_common/serialization.h>
+TESSERACT_SERIALIZE_ARCHIVES_INSTANTIATE(tesseract_planning::SimplePlannerFixedSizeAssignNoIKPlanProfile)
+BOOST_CLASS_EXPORT_IMPLEMENT(tesseract_planning::SimplePlannerFixedSizeAssignNoIKPlanProfile)
diff --git a/...eract_motion_planners/simple/src/profile/simple_planner_lvs_assign_no_ik_plan_profile.cpp b/...eract_motion_planners/simple/src/profile/simple_planner_lvs_assign_no_ik_plan_profile.cpp
@@ -144,4 +144,19 @@ SimplePlannerLVSAssignNoIKPlanProfile::generate(const MoveInstructionPoly& prev_
   return getInterpolatedInstructions(base.manip->getJointNames(), states, base.instruction);
 }
 
+template <class Archive>
+void SimplePlannerLVSAssignNoIKPlanProfile::serialize(Archive& ar, const unsigned int /*version*/)
+{
+  ar& BOOST_SERIALIZATION_BASE_OBJECT_NVP(SimplePlannerPlanProfile);
+  ar& BOOST_SERIALIZATION_NVP(state_longest_valid_segment_length);
+  ar& BOOST_SERIALIZATION_NVP(translation_longest_valid_segment_length);
+  ar& BOOST_SERIALIZATION_NVP(rotation_longest_valid_segment_length);
+  ar& BOOST_SERIALIZATION_NVP(min_steps);
+  ar& BOOST_SERIALIZATION_NVP(max_steps);
+}
+
 }  // namespace tesseract_planning
+
+#include <tesseract_common/serialization.h>
+TESSERACT_SERIALIZE_ARCHIVES_INSTANTIATE(tesseract_planning::SimplePlannerLVSAssignNoIKPlanProfile)
+BOOST_CLASS_EXPORT_IMPLEMENT(tesseract_planning::SimplePlannerLVSAssignNoIKPlanProfile)
diff --git a/tesseract_motion_planners/simple/src/profile/simple_planner_lvs_assign_plan_profile.cpp b/tesseract_motion_planners/simple/src/profile/simple_planner_lvs_assign_plan_profile.cpp
@@ -172,4 +172,19 @@ SimplePlannerLVSAssignPlanProfile::generate(const MoveInstructionPoly& prev_inst
   return getInterpolatedInstructions(base.manip->getJointNames(), states, base.instruction);
 }
 
+template <class Archive>
+void SimplePlannerLVSAssignPlanProfile::serialize(Archive& ar, const unsigned int /*version*/)
+{
+  ar& BOOST_SERIALIZATION_BASE_OBJECT_NVP(SimplePlannerPlanProfile);
+  ar& BOOST_SERIALIZATION_NVP(state_longest_valid_segment_length);
+  ar& BOOST_SERIALIZATION_NVP(translation_longest_valid_segment_length);
+  ar& BOOST_SERIALIZATION_NVP(rotation_longest_valid_segment_length);
+  ar& BOOST_SERIALIZATION_NVP(min_steps);
+  ar& BOOST_SERIALIZATION_NVP(max_steps);
+}
+
 }  // namespace tesseract_planning
+
+#include <tesseract_common/serialization.h>
+TESSERACT_SERIALIZE_ARCHIVES_INSTANTIATE(tesseract_planning::SimplePlannerLVSAssignPlanProfile)
+BOOST_CLASS_EXPORT_IMPLEMENT(tesseract_planning::SimplePlannerLVSAssignPlanProfile)