move json serialization to calculator_cloud

pantor · Oct 4, 2023 · faa8b63 · faa8b63
1 parent adb4c09
commit faa8b63
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Showing 7 changed files with 16 additions and 26 deletions.
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -53,7 +53,7 @@ if(BUILD_CLOUD_CLIENT)
     $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/third_party>
     $<INSTALL_INTERFACE:${CMAKE_INSTALL_INCLUDEDIR}>
   )
-  target_compile_definitions(ruckig PUBLIC WITH_CLOUD_CLIENT WITH_SERIALIZATION)
+  target_compile_definitions(ruckig PUBLIC WITH_CLOUD_CLIENT)
 endif()
 
 

diff --git a/include/ruckig/brake.hpp b/include/ruckig/brake.hpp
@@ -4,10 +4,6 @@
 #include <cmath>
 #include <iostream>
 
-#ifdef WITH_SERIALIZATION
-#include <json/json.hpp>
-#endif
-
 #include <ruckig/utils.hpp>
 
 
@@ -73,10 +69,6 @@ class BrakeProfile {
         v[0] = vs;
         std::tie(ps, vs, as) = integrate(t[0], ps, vs, a[0], 0.0);
     }
-
-#ifdef WITH_SERIALIZATION
-    NLOHMANN_DEFINE_TYPE_INTRUSIVE(BrakeProfile, duration, t, j, a, v, p)
-#endif
 };
 
 } // namespace ruckig
diff --git a/include/ruckig/calculator_cloud.hpp b/include/ruckig/calculator_cloud.hpp
@@ -31,6 +31,10 @@ class CloudClient {
 };
 
 
+NLOHMANN_DEFINE_TYPE_NON_INTRUSIVE(BrakeProfile, duration, t, j, a, v, p)
+NLOHMANN_DEFINE_TYPE_NON_INTRUSIVE(Profile, t, t_sum, j, a, v, p, pf, vf, af, brake, accel)
+
+
 //! Calculation class for a trajectory along waypoints.
 template<size_t DOFs, template<class, size_t> class CustomVector = StandardVector>
 class WaypointsCalculator {

diff --git a/include/ruckig/profile.hpp b/include/ruckig/profile.hpp
@@ -8,10 +8,6 @@
 #include <limits>
 #include <optional>
 
-#ifdef WITH_SERIALIZATION
-#include <json/json.hpp>
-#endif
-
 #include <ruckig/brake.hpp>
 #include <ruckig/roots.hpp>
 #include <ruckig/utils.hpp>
@@ -29,7 +25,9 @@ struct PositionExtrema {
 };
 
 
-//! A single-dof kinematic profile with position, velocity, acceleration and jerk
+//! @brief A single-dof kinematic profile with position, velocity, acceleration and jerk
+//!
+//! The class members are only available in the Ruckig Community Version.
 class Profile {
     constexpr static double v_eps {1e-12};
     constexpr static double a_eps {1e-12};
@@ -529,10 +527,6 @@ class Profile {
         }
         return result;
     }
-
-#ifdef WITH_SERIALIZATION
-    NLOHMANN_DEFINE_TYPE_INTRUSIVE(Profile, t, t_sum, j, a, v, p, pf, vf, af, brake, accel)
-#endif
 };
 
 } // namespace ruckig
diff --git a/include/ruckig/trajectory.hpp b/include/ruckig/trajectory.hpp
@@ -15,7 +15,7 @@ template<size_t, template<class, size_t> class> class TargetCalculator;
 template<size_t, template<class, size_t> class> class WaypointsCalculator;
 
 
-//! Interface for the generated trajectory.
+//! The trajectory generated by the Ruckig algorithm.
 template<size_t DOFs, template<class, size_t> class CustomVector = StandardVector>
 class Trajectory {
 #if defined WITH_CLOUD_CLIENT
@@ -245,7 +245,7 @@ class Trajectory {
     }
 
 
-    //! Get the underlying profiles of the trajectory
+    //! Get the underlying profiles of the trajectory (only in the Ruckig Community Version)
     Container<Vector<Profile>> get_profiles() const {
         return profiles;
     }

diff --git a/test/plot_waypoints.py b/test/plot_waypoints.py
@@ -60,7 +60,7 @@ def walk_through_trajectory(otg, inp):
     i = 1
     while out_list[i].new_calculation:
         print(f'{i}\tCalculation duration: {out_list[i].calculation_duration:0.1f} [µs]')
-        print(f'\tTrajectory duration: {i*otg.delta_time + out_list[i].trajectory.duration:0.4f} [s]')
+        print(f'\tTrajectory duration: {i * otg.delta_time + out_list[i].trajectory.duration:0.4f} [s]')
         i += 1
 
     Plotter.plot_trajectory('otg_trajectory.png', otg, inp, out_list, plot_jerk=False, time_offsets=time_offsets)
diff --git a/test/plotter.py b/test/plotter.py
@@ -32,13 +32,13 @@ def plot_trajectory(filename, otg, inp, out_list, show=False, plot_acceleration=
                 global_min = min(global_min, np.min(dddqaxis[:, dof]))
 
             plt.subplot(inp.degrees_of_freedom, 1, dof + 1)
-            plt.ylabel(f'DoF {dof+1}')
-            plt.plot(taxis, qaxis[:, dof], label=f'Position {dof+1}')
-            plt.plot(taxis, dqaxis[:, dof], label=f'Velocity {dof+1}')
+            plt.ylabel(f'DoF {dof + 1}')
+            plt.plot(taxis, qaxis[:, dof], label=f'Position {dof + 1}')
+            plt.plot(taxis, dqaxis[:, dof], label=f'Velocity {dof + 1}')
             if plot_acceleration:
-                plt.plot(taxis, ddqaxis[:, dof], label=f'Acceleration {dof+1}')
+                plt.plot(taxis, ddqaxis[:, dof], label=f'Acceleration {dof + 1}')
             if plot_jerk:
-                plt.plot(taxis, dddqaxis[:, dof], label=f'Jerk {dof+1}')
+                plt.plot(taxis, dddqaxis[:, dof], label=f'Jerk {dof + 1}')
 
             # Plot sections
             if hasattr(out_list[-1], 'trajectory'):