pinocchio  2.6.3
A fast and flexible implementation of Rigid Body Dynamics algorithms and their analytical derivatives
joints-transform.hpp
1 //
2 // Copyright (c) 2019 INRIA
3 //
4 
5 #ifndef __pinocchio_serialization_joints_transform_hpp__
6 #define __pinocchio_serialization_joints_transform_hpp__
7 
8 #include "pinocchio/spatial/motion.hpp"
9 #include "pinocchio/serialization/fwd.hpp"
10 
11 #include <boost/serialization/split_free.hpp>
12 #include <boost/serialization/vector.hpp>
13 
14 namespace boost
15 {
16  namespace serialization
17  {
18 
19  template <class Archive, typename Scalar, int Options, int axis>
20  void serialize(Archive & ar,
22  const unsigned int /*version*/)
23  {
24  ar & make_nvp("sin",m.sin());
25  ar & make_nvp("cos",m.cos());
26  }
27 
28  template <class Archive, typename Scalar, int Options, int axis>
29  void serialize(Archive & ar,
31  const unsigned int /*version*/)
32  {
33  ar & make_nvp("displacement",m.displacement());
34  }
35 
36  template <class Archive, typename Scalar, int Options>
37  void serialize(Archive & ar,
39  const unsigned int /*version*/)
40  {
41  ar & make_nvp("translation",m.translation());
42  }
43 
44  }
45 }
46 
47 #endif // ifndef __pinocchio_serialization_joints_transform_hpp__
Definition: casadi.hpp:15