pinocchio
2.3.1-dirty
serialization/frame.hpp
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//
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// Copyright (c) 2019 INRIA
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//
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#ifndef __pinocchio_serialization_frame_hpp__
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#define __pinocchio_serialization_frame_hpp__
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#include "pinocchio/multibody/frame.hpp"
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#include "pinocchio/serialization/fwd.hpp"
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#include "pinocchio/serialization/se3.hpp"
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#include <boost/serialization/split_free.hpp>
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#include <boost/serialization/vector.hpp>
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namespace
boost
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{
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namespace
serialization
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{
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template
<
class
Archive,
typename
Scalar,
int
Options>
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void
save(Archive & ar,
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const
pinocchio::FrameTpl<Scalar,Options>
& f,
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const
unsigned
int
/*version*/
)
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{
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ar & make_nvp(
"name"
,f.
name
);
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ar & make_nvp(
"parent"
,f.
parent
);
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ar & make_nvp(
"previousFrame"
,f.
previousFrame
);
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ar & make_nvp(
"placement"
,f.
placement
);
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ar & make_nvp(
"type"
,f.
type
);
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}
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template
<
class
Archive,
typename
Scalar,
int
Options>
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void
load(Archive & ar,
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pinocchio::FrameTpl<Scalar,Options>
& f,
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const
unsigned
int
/*version*/
)
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{
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ar >> make_nvp(
"name"
,f.
name
);
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ar >> make_nvp(
"parent"
,f.
parent
);
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ar >> make_nvp(
"previousFrame"
,f.
previousFrame
);
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ar >> make_nvp(
"placement"
,f.
placement
);
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ar >> make_nvp(
"type"
,f.
type
);
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}
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template
<
class
Archive,
typename
Scalar,
int
Options>
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void
serialize(Archive & ar,
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pinocchio::FrameTpl<Scalar,Options>
& f,
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const
unsigned
int
version)
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{
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split_free(ar,f,version);
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}
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}
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}
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#endif // ifndef __pinocchio_serialization_frame_hpp__
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boost
Definition:
autodiff/casadi.hpp:15
pinocchio::FrameTpl
A Plucker coordinate frame attached to a parent joint inside a kinematic tree.
Definition:
multibody/frame.hpp:31
pinocchio::FrameTpl::placement
SE3 placement
Placement of the frame wrt the parent joint.
Definition:
multibody/frame.hpp:105
pinocchio::FrameTpl::name
std::string name
Name of the frame.
Definition:
multibody/frame.hpp:96
pinocchio::FrameTpl::parent
JointIndex parent
Index of the parent joint.
Definition:
multibody/frame.hpp:99
pinocchio::FrameTpl::previousFrame
FrameIndex previousFrame
Index of the previous frame.
Definition:
multibody/frame.hpp:102
pinocchio::FrameTpl::type
FrameType type
Type of the frame.
Definition:
multibody/frame.hpp:108
src
serialization
frame.hpp
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