iLab Neuromorphic Robotics Toolkit  0.1
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Eigen.H
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1 /*! @file
2  @author Daniel Parks
3  @copyright GNU Public License (GPL v3)
4  @section License
5  @verbatim
6  // ////////////////////////////////////////////////////////////////////////
7  // The iLab Neuromorphic Robotics Toolkit (NRT) //
8  // Copyright 2010-2012 by the University of Southern California (USC) //
9  // and the iLab at USC. //
10  // //
11  // iLab - University of Southern California //
12  // Hedco Neurociences Building, Room HNB-10 //
13  // Los Angeles, Ca 90089-2520 - USA //
14  // //
15  // See http://ilab.usc.edu for information about this project. //
16  // ////////////////////////////////////////////////////////////////////////
17  // This file is part of The iLab Neuromorphic Robotics Toolkit. //
18  // //
19  // The iLab Neuromorphic Robotics Toolkit is free software: you can //
20  // redistribute it and/or modify it under the terms of the GNU General //
21  // Public License as published by the Free Software Foundation, either //
22  // version 3 of the License, or (at your option) any later version. //
23  // //
24  // The iLab Neuromorphic Robotics Toolkit is distributed in the hope //
25  // that it will be useful, but WITHOUT ANY WARRANTY; without even the //
26  // implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR //
27  // PURPOSE. See the GNU General Public License for more details. //
28  // //
29  // You should have received a copy of the GNU General Public License //
30  // along with The iLab Neuromorphic Robotics Toolkit. If not, see //
31  // <http://www.gnu.org/licenses/>. //
32  // ////////////////////////////////////////////////////////////////////////
33  @endverbatim */
34 
35 
36 #ifndef INCLUDE_NRT_EIGEN_EIGEN_H
37 #define INCLUDE_NRT_EIGEN_EIGEN_H
38 
39 #include <nrt/config.h>
40 
41 #ifdef NRT_HAVE_EIGEN3
42 
44 #include <nrt/External/cereal/cereal.hpp>
45 
46 NRT_BEGIN_UNCHECKED_INCLUDES;
47 
48 #include <Eigen/Core>
49 #include <Eigen/Geometry>
50 
51 NRT_END_UNCHECKED_INCLUDES;
52 
53 namespace Eigen
54 {
55  //! Serialization for Eigen::MatrixBase
56  template<class Archive, typename Derived>
57  void save(Archive & ar, Eigen::MatrixBase<Derived> const & matrix)
58  {
59  ar( cereal::make_nvp("rows", matrix.rows()), cereal::make_nvp("cols", matrix.cols()) );
60  ar( cereal::make_nvp("data", cereal::binary_data(&matrix(0), matrix.size() * sizeof(typename Derived::Scalar))) );
61  }
62 
63  //! Loading for Eigen::MatrixBase with dynamic rows and dynamic columns
64  template<class Archive, typename Derived>
65  void load(Archive & ar, Eigen::MatrixBase<Derived> & matrix)
66  {
67  typename Derived::Index rows, cols;
68  ar( cereal::make_nvp("rows", rows), cereal::make_nvp("cols", cols) );
69  matrix.derived().resize(rows, cols);
70  ar( cereal::make_nvp("data", cereal::binary_data(&matrix(0), matrix.size() * sizeof(typename Derived::Scalar))) );
71  }
72 
73  //! Serialization for Eigen::Hyperplane
74  template<class Archive, typename Scalar, int AmbientDim>
75  void serialize(Archive & ar, Eigen::Hyperplane<Scalar, AmbientDim> & plane)
76  { ar( plane.coeffs() ); }
77 
78  //! Serialization for Eigen::Transform
79  template<class Archive, typename Scalar, int Dim, int Mode, int Options>
80  void serialize(Archive & ar, Eigen::Transform<Scalar, Dim, Mode, Options> & transform)
81  {
82  ar( transform.matrix() );
83  }
84 }
85 
86 #else // NRT_HAVE_EIGEN3
87 
88 #error "Eigen3 not supported in this build"
89 
90 #endif // NRT_HAVE_EIGEN3
91 
92 #endif // INCLUDE_NRT_EIGEN_EIGEN_H