99 lines
2.5 KiB
C
99 lines
2.5 KiB
C
|
/*
|
||
|
|
geometry_utils: Utility library to provide common geometry types and transformations
|
||
|
|
Copyright (C) 2013 Nathan Michael
|
||
|
|
2016 Erik Nelson
|
||
|
|
|
||
|
|
This program is free software; you can redistribute it and/or
|
||
|
|
modify it under the terms of the GNU General Public License
|
||
|
|
as published by the Free Software Foundation; either version 2
|
||
|
|
of the License, or (at your option) any later version.
|
||
|
|
|
||
|
|
This program is distributed in the hope that it will be useful,
|
||
|
|
but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||
|
|
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||
|
|
GNU General Public License for more details.
|
||
|
|
|
||
|
|
You should have received a copy of the GNU General Public License
|
||
|
|
along with this program; if not, write to the Free Software
|
||
|
|
Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
|
||
|
|
*/
|
||
|
|
|
||
|
|
#ifndef GEOMETRY_UTILS_YAML_LOADER_H
|
||
|
|
#define GEOMETRY_UTILS_YAML_LOADER_H
|
||
|
|
|
||
|
|
#ifdef __YAML_UTILS_H__
|
||
|
|
#error "YAMLUtils must be included last"
|
||
|
|
#endif
|
||
|
|
|
||
|
|
#include <yaml-cpp/yaml.h>
|
||
|
|
#include <geometry_utils/GeometryUtils.h>
|
||
|
|
|
||
|
|
namespace YAML {
|
||
|
|
|
||
|
|
template <>
|
||
|
|
struct convert<geometry_utils::Vector2> {
|
||
|
|
static Node Encode(const geometry_utils::Vector2& rhs) {
|
||
|
|
Node node;
|
||
|
|
node.push_back(rhs[0]);
|
||
|
|
node.push_back(rhs[1]);
|
||
|
|
return node;
|
||
|
|
}
|
||
|
|
|
||
|
|
static bool Decode(const Node& node, geometry_utils::Vector2& rhs) {
|
||
|
|
if (!node.IsSequence() || node.size() != 2)
|
||
|
|
return false;
|
||
|
|
|
||
|
|
rhs[0] = node[0].as<double>();
|
||
|
|
rhs[1] = node[1].as<double>();
|
||
|
|
return true;
|
||
|
|
}
|
||
|
|
};
|
||
|
|
|
||
|
|
template <>
|
||
|
|
struct convert<geometry_utils::Vector3> {
|
||
|
|
static Node Encode(const geometry_utils::Vector3& rhs) {
|
||
|
|
Node node;
|
||
|
|
node.push_back(rhs[0]);
|
||
|
|
node.push_back(rhs[1]);
|
||
|
|
node.push_back(rhs[2]);
|
||
|
|
return node;
|
||
|
|
}
|
||
|
|
|
||
|
|
static bool Decode(const Node& node, geometry_utils::Vector3& rhs) {
|
||
|
|
if (!node.IsSequence() || node.size() != 3)
|
||
|
|
return false;
|
||
|
|
|
||
|
|
rhs[0] = node[0].as<double>();
|
||
|
|
rhs[1] = node[1].as<double>();
|
||
|
|
rhs[2] = node[2].as<double>();
|
||
|
|
return true;
|
||
|
|
}
|
||
|
|
};
|
||
|
|
|
||
|
|
template <>
|
||
|
|
struct convert<geometry_utils::Vector4> {
|
||
|
|
static Node Encode(const geometry_utils::Vector4& rhs) {
|
||
|
|
Node node;
|
||
|
|
node.push_back(rhs[0]);
|
||
|
|
node.push_back(rhs[1]);
|
||
|
|
node.push_back(rhs[2]);
|
||
|
|
node.push_back(rhs[3]);
|
||
|
|
return node;
|
||
|
|
}
|
||
|
|
|
||
|
|
static bool Decode(const Node& node, geometry_utils::Vector4& rhs) {
|
||
|
|
if (!node.IsSequence() || node.size() != 4)
|
||
|
|
return false;
|
||
|
|
|
||
|
|
rhs[0] = node[0].as<double>();
|
||
|
|
rhs[1] = node[1].as<double>();
|
||
|
|
rhs[2] = node[2].as<double>();
|
||
|
|
rhs[3] = node[3].as<double>();
|
||
|
|
return true;
|
||
|
|
}
|
||
|
|
};
|
||
|
|
|
||
|
|
}
|
||
|
|
|
||
|
|
#endif
|