pinocchio
2.4.0-dirty
A fast and flexible implementation of Rigid Body Dynamics algorithms and their analytical derivatives
joints-constraint.hpp
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//
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// Copyright (c) 2019 INRIA
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//
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#ifndef __pinocchio_serialization_joints_constraint_hpp__
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#define __pinocchio_serialization_joints_constraint_hpp__
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#include "pinocchio/serialization/fwd.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,
int
axis>
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void
serialize(Archive &
/*ar*/
,
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pinocchio::ConstraintRevoluteTpl<Scalar,Options,axis>
&
/*S*/
,
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const
unsigned
int
/*version*/
)
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{}
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template
<
class
Archive,
typename
Scalar,
int
Options,
int
axis>
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void
serialize(Archive &
/*ar*/
,
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pinocchio::ConstraintPrismaticTpl<Scalar,Options,axis>
&
/*S*/
,
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const
unsigned
int
/*version*/
)
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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::ConstraintSphericalTpl<Scalar,Options>
&
/*S*/
,
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const
unsigned
int
/*version*/
)
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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::ConstraintTranslationTpl<Scalar,Options>
&
/*S*/
,
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const
unsigned
int
/*version*/
)
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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::ConstraintIdentityTpl<Scalar,Options>
&
/*S*/
,
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const
unsigned
int
/*version*/
)
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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::ConstraintRevoluteUnalignedTpl<Scalar,Options>
& S,
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const
unsigned
int
/*version*/
)
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{
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ar & make_nvp(
"axis"
,S.axis());
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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::ConstraintPrismaticUnalignedTpl<Scalar,Options>
& S,
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const
unsigned
int
/*version*/
)
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{
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ar & make_nvp(
"axis"
,S.axis());
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}
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template
<
class
Archive,
int
Dim,
typename
Scalar,
int
Options>
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void
serialize(Archive & ar,
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pinocchio::ConstraintTpl<Dim,Scalar,Options>
& S,
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const
unsigned
int
/*version*/
)
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{
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ar & make_nvp(
"matrix"
,S.matrix());
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}
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template
<
class
Archive,
class
Constra
int
>
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void
serialize(Archive & ar,
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pinocchio::ScaledConstraint<Constraint>
& S,
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const
unsigned
int
/*version*/
)
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{
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ar & make_nvp(
"scaling"
,S.scaling());
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ar & make_nvp(
"constraint"
,S.constraint());
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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::ConstraintPlanarTpl<Scalar,Options>
&
/*S*/
,
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const
unsigned
int
/*version*/
)
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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::ConstraintSphericalZYXTpl<Scalar,Options>
& S,
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const
unsigned
int
/*version*/
)
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{
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ar & make_nvp(
"angularSubspace"
,S.angularSubspace());
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}
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}
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}
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#endif // ifndef __pinocchio_serialization_joints_constraint_hpp__
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pinocchio::ConstraintPlanarTpl
Definition:
joint-planar.hpp:201
pinocchio::ConstraintTpl
Definition:
constraint-generic.hpp:42
pinocchio::ConstraintRevoluteTpl
Definition:
joint-revolute.hpp:330
boost
Definition:
casadi.hpp:15
pinocchio::ConstraintPrismaticTpl
Definition:
joint-prismatic.hpp:257
pinocchio::ConstraintSphericalZYXTpl
Definition:
joint-spherical-ZYX.hpp:20
pinocchio::ConstraintTranslationTpl
Definition:
joint-translation.hpp:255
pinocchio::ScaledConstraint
Definition:
joint-mimic.hpp:14
pinocchio::ConstraintSphericalTpl
Definition:
joint-spherical.hpp:181
pinocchio::ConstraintIdentityTpl
Definition:
joint-free-flyer.hpp:20
pinocchio::ConstraintRevoluteUnalignedTpl
Definition:
joint-revolute-unaligned.hpp:193
pinocchio::ConstraintPrismaticUnalignedTpl
Definition:
joint-prismatic-unaligned.hpp:182
src
serialization
joints-constraint.hpp
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