pinocchio
2.4.5
A fast and flexible implementation of Rigid Body Dynamics algorithms and their analytical derivatives
joints-motion.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_motion_hpp__
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#define __pinocchio_serialization_joints_motion_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::MotionRevoluteTpl<Scalar,Options,axis>
& m,
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const
unsigned
int
/*version*/
)
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{
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ar & make_nvp(
"w"
,m.angularRate());
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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::MotionPrismaticTpl<Scalar,Options,axis>
& m,
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const
unsigned
int
/*version*/
)
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{
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ar & make_nvp(
"v"
,m.linearRate());
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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::MotionSphericalTpl<Scalar,Options>
& m,
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const
unsigned
int
/*version*/
)
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{
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ar & make_nvp(
"angular"
,m.angular());
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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::MotionTranslationTpl<Scalar,Options>
& m,
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const
unsigned
int
/*version*/
)
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{
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ar & make_nvp(
"linear"
,m.linear());
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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::MotionPlanarTpl<Scalar,Options>
& m,
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const
unsigned
int
/*version*/
)
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{
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ar & make_nvp(
"data"
,m.data());
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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::MotionRevoluteUnalignedTpl<Scalar,Options>
& m,
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const
unsigned
int
/*version*/
)
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{
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ar & make_nvp(
"axis"
,m.axis());
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ar & make_nvp(
"w"
,m.angularRate());
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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::MotionPrismaticUnalignedTpl<Scalar,Options>
& m,
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const
unsigned
int
/*version*/
)
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{
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ar & make_nvp(
"axis"
,m.axis());
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ar & make_nvp(
"v"
,m.linearRate());
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}
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}
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}
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#endif // ifndef __pinocchio_serialization_joints_motion_hpp__
boost
Definition:
casadi.hpp:13
pinocchio::MotionRevoluteTpl
Definition:
joint-revolute.hpp:19
pinocchio::MotionPrismaticTpl
Definition:
joint-prismatic.hpp:19
pinocchio::MotionPlanarTpl
Definition:
joint-planar.hpp:19
pinocchio::MotionRevoluteUnalignedTpl
Definition:
joint-revolute-unaligned.hpp:18
pinocchio::MotionSphericalTpl
Definition:
joint-spherical.hpp:19
pinocchio::MotionTranslationTpl
Definition:
joint-translation.hpp:18
pinocchio::MotionPrismaticUnalignedTpl
Definition:
joint-prismatic-unaligned.hpp:19
src
serialization
joints-motion.hpp
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