json.h

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#pragma once
 
#include "./point.h"
#include "./pose.h"
#include "./quaternion.h"
#include "./simplex.h"
 
#ifdef EMLABCPP_USE_NLOHMANN_JSON
#include <nlohmann/json.hpp>
#endif
 
namespace emlabcpp
{
#ifdef EMLABCPP_USE_NLOHMANN_JSON
 
template < std::size_t N >
inline void from_json( nlohmann::json const& j, point< N >& p )
{
        using container = typename point< N >::container;
 
        p = point< N >( j.get< container >() );
}
 
template < std::size_t N >
inline void to_json( nlohmann::json& j, point< N > const& p )
{
        j = view{ p };
}
 
inline void to_json( nlohmann::json& j, quaternion const& quat )
{
        j = { quat[0], quat[1], quat[2], quat[3] };
}
 
inline void from_json( nlohmann::json const& j, quaternion& quat )
{
        quat = quaternion{
            j.at( 0 ).get< float >(),
            j.at( 1 ).get< float >(),
            j.at( 2 ).get< float >(),
            j.at( 3 ).get< float >() };
}
 
inline void to_json( nlohmann::json& j, pose const& p )
{
        j["position"]    = p.position;
        j["orientation"] = p.orientation;
}
 
inline void from_json( nlohmann::json const& j, pose& p )
{
        p = pose{
            j.at( "position" ).get< point< 3 > >(), j.at( "orientation" ).get< quaternion >() };
}
 
template < typename Item, std::size_t N >
inline void to_json( nlohmann::json& j, simplex< Item, N > const& sim )
{
        std::copy( sim.begin(), sim.end(), std::back_inserter( j ) );
}
 
template < typename Item, std::size_t N >
inline void from_json( nlohmann::json const& j, simplex< Item, N >& sim )
{
        sim = simplex< Item, N >{ j.get< std::array< Item, N + 1 > >() };
}
 
#endif
 
}  // namespace emlabcpp