5 #ifndef __pinocchio_serialization_force_hpp__ 6 #define __pinocchio_serialization_force_hpp__ 8 #include "pinocchio/spatial/force.hpp" 9 #include "pinocchio/serialization/fwd.hpp" 11 #include <boost/serialization/split_free.hpp> 12 #include <boost/serialization/vector.hpp> 16 namespace serialization
19 template <
class Archive,
typename Scalar,
int Options>
20 void save(Archive & ar,
24 ar & make_nvp(
"linear",make_array(f.
linear().data(),3));
25 ar & make_nvp(
"angular",make_array(f.
angular().data(),3));
28 template <
class Archive,
typename Scalar,
int Options>
29 void load(Archive & ar,
33 ar >> make_nvp(
"linear",make_array(f.
linear().data(),3));
34 ar >> make_nvp(
"angular",make_array(f.
angular().data(),3));
37 template <
class Archive,
typename Scalar,
int Options>
38 void serialize(Archive & ar,
40 const unsigned int version)
42 split_free(ar,f,version);
48 #endif // ifndef __pinocchio_serialization_force_hpp__
ConstAngularType angular() const
Return the angular part of the force vector.
ConstLinearType linear() const
Return the linear part of the force vector.