5 #ifndef __pinocchio_serialization_multibody_geometry_hpp__ 6 #define __pinocchio_serialization_multibody_geometry_hpp__ 8 #include <boost/serialization/vector.hpp> 9 #include <boost/serialization/map.hpp> 11 #ifdef PINOCCHIO_WITH_HPP_FCL 12 #define HPP_FCL_SKIP_EIGEN_BOOST_SERIALIZATION 13 #include <hpp/fcl/serialization/collision_data.h> 14 #undef HPP_FCL_SKIP_EIGEN_BOOST_SERIALIZATION 15 #endif // PINOCCHIO_WITH_HPP_FCL 17 #include "pinocchio/multibody/geometry.hpp" 18 #include "pinocchio/serialization/aligned-vector.hpp" 19 #include "pinocchio/serialization/spatial.hpp" 23 namespace serialization
25 template<
class Archive>
26 void serialize(Archive & ar,
30 ar & make_nvp(
"pair",base_object<pinocchio::CollisionPair::Base>(collision_pair));
33 template<
class Archive>
34 void serialize(Archive & ar,
38 ar & make_nvp(
"oMg",geom_data.oMg);
42 #ifdef PINOCCHIO_WITH_HPP_FCL 48 ar & make_nvp(
"radius",geom_data.
radius);
51 #endif // PINOCCHIO_WITH_HPP_FCL 60 #endif // ifndef __pinocchio_serialization_multibody_geometry_hpp__
std::vector< fcl::DistanceResult > distanceResults
Vector gathering the result of the distance computation for all the collision pairs.
std::vector< fcl::CollisionResult > collisionResults
Vector gathering the result of the collision computation for all the collision pairs.
std::vector< fcl::DistanceRequest > distanceRequests
Defines what information should be computed by distance computation. There is one request per pair of...
std::vector< Scalar > radius
Radius of the bodies, i.e. distance of the further point of the geometry model attached to the body f...
std::map< JointIndex, GeomIndexList > outerObjects
A list of associated collision GeometryObjects to a given joint Id.
std::vector< bool > activeCollisionPairs
Vector of collision pairs.
std::map< JointIndex, GeomIndexList > innerObjects
Map over vector GeomModel::geometryObjects, indexed by joints.
PairIndex collisionPairIndex
Index of the collision pair.
std::vector< fcl::CollisionRequest > collisionRequests
Defines what information should be computed by collision test. There is one request per pair of geome...