From b5d897fb61620db3b57de31543059eaf08368098 Mon Sep 17 00:00:00 2001
From: Roelof Oomen <rj.oomen@isohorti.com>
Date: Wed, 18 Dec 2024 13:06:55 +0100
Subject: [PATCH] Add Ruckig composite profile serialization
---
.../profiles/ruckig_trajectory_smoothing_profile.h | 6 ++++++
.../ruckig_trajectory_smoothing_profile.cpp | 13 +++++++++++++
2 files changed, 19 insertions(+)
diff --git a/tesseract_task_composer/planning/include/tesseract_task_composer/planning/profiles/ruckig_trajectory_smoothing_profile.h b/tesseract_task_composer/planning/include/tesseract_task_composer/planning/profiles/ruckig_trajectory_smoothing_profile.h
index 8b99bce65b..40132a64ab 100644
--- a/tesseract_task_composer/planning/include/tesseract_task_composer/planning/profiles/ruckig_trajectory_smoothing_profile.h
+++ b/tesseract_task_composer/planning/include/tesseract_task_composer/planning/profiles/ruckig_trajectory_smoothing_profile.h
@@ -64,6 +64,11 @@ struct RuckigTrajectorySmoothingCompositeProfile : public Profile
/** @brief max_jerk_scaling_factor The max jerk scaling factor passed to the solver */
double max_jerk_scaling_factor{ 1.0 };
+
+protected:
+ friend class boost::serialization::access;
+ template <class Archive>
+ void serialize(Archive&, const unsigned int); // NOLINT
};
struct RuckigTrajectorySmoothingMoveProfile : public Profile
@@ -96,6 +101,7 @@ struct RuckigTrajectorySmoothingMoveProfile : public Profile
};
} // namespace tesseract_planning
+BOOST_CLASS_EXPORT_KEY(tesseract_planning::RuckigTrajectorySmoothingCompositeProfile)
BOOST_CLASS_EXPORT_KEY(tesseract_planning::RuckigTrajectorySmoothingMoveProfile)
#endif // TESSERACT_TASK_COMPOSER_RUCKIG_TRAJECTORY_SMOOTHING_PROFILE_H
diff --git a/tesseract_task_composer/planning/src/profiles/ruckig_trajectory_smoothing_profile.cpp b/tesseract_task_composer/planning/src/profiles/ruckig_trajectory_smoothing_profile.cpp
index 12113f0cf6..471fcff534 100644
--- a/tesseract_task_composer/planning/src/profiles/ruckig_trajectory_smoothing_profile.cpp
+++ b/tesseract_task_composer/planning/src/profiles/ruckig_trajectory_smoothing_profile.cpp
@@ -52,6 +52,17 @@ std::size_t RuckigTrajectorySmoothingCompositeProfile::getStaticKey()
return std::type_index(typeid(RuckigTrajectorySmoothingCompositeProfile)).hash_code();
}
+template <class Archive>
+void RuckigTrajectorySmoothingCompositeProfile::serialize(Archive& ar, const unsigned int /*version*/)
+{
+ ar& BOOST_SERIALIZATION_BASE_OBJECT_NVP(Profile);
+ ar& BOOST_SERIALIZATION_NVP(duration_extension_fraction);
+ ar& BOOST_SERIALIZATION_NVP(max_duration_extension_factor);
+ ar& BOOST_SERIALIZATION_NVP(max_velocity_scaling_factor);
+ ar& BOOST_SERIALIZATION_NVP(max_acceleration_scaling_factor);
+ ar& BOOST_SERIALIZATION_NVP(max_jerk_scaling_factor);
+}
+
RuckigTrajectorySmoothingMoveProfile::RuckigTrajectorySmoothingMoveProfile()
: Profile(RuckigTrajectorySmoothingMoveProfile::getStaticKey())
{
@@ -81,5 +92,7 @@ void RuckigTrajectorySmoothingMoveProfile::serialize(Archive& ar, const unsigned
} // namespace tesseract_planning
#include <tesseract_common/serialization.h>
+TESSERACT_SERIALIZE_ARCHIVES_INSTANTIATE(tesseract_planning::RuckigTrajectorySmoothingCompositeProfile)
TESSERACT_SERIALIZE_ARCHIVES_INSTANTIATE(tesseract_planning::RuckigTrajectorySmoothingMoveProfile)
+BOOST_CLASS_EXPORT_IMPLEMENT(tesseract_planning::RuckigTrajectorySmoothingCompositeProfile)
BOOST_CLASS_EXPORT_IMPLEMENT(tesseract_planning::RuckigTrajectorySmoothingMoveProfile)