59 lines
1.3 KiB
C++
59 lines
1.3 KiB
C++
// Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma
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// de Barcelona (UAB).
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//
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// This work is licensed under the terms of the MIT license.
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// For a copy, see <https://opensource.org/licenses/MIT>.
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#pragma once
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#include "carla/Buffer.h"
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#include "carla/Debug.h"
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#include "carla/Memory.h"
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#include "carla/rpc/Actor.h"
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#include "carla/geom/Vector3D.h"
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#include "carla/sensor/RawData.h"
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namespace carla {
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namespace sensor {
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class SensorData;
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namespace s11n {
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/// Serializes the current state of the whole episode.
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class CollisionEventSerializer {
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public:
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struct Data {
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rpc::Actor self_actor;
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rpc::Actor other_actor;
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geom::Vector3D normal_impulse;
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MSGPACK_DEFINE_ARRAY(self_actor, other_actor, normal_impulse)
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};
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constexpr static auto header_offset = 0u;
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static Data DeserializeRawData(const RawData &message) {
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return MsgPack::UnPack<Data>(message.begin(), message.size());
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}
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template <typename SensorT>
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static Buffer Serialize(
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const SensorT &,
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rpc::Actor self_actor,
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rpc::Actor other_actor,
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geom::Vector3D normal_impulse) {
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return MsgPack::Pack(Data{self_actor, other_actor, normal_impulse});
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}
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static SharedPtr<SensorData> Deserialize(RawData &&data);
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};
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} // namespace s11n
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} // namespace sensor
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} // namespace carla
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