5 #ifndef __pinocchio_serialization_frame_hpp__ 6 #define __pinocchio_serialization_frame_hpp__ 8 #include "pinocchio/multibody/frame.hpp" 10 #include "pinocchio/serialization/fwd.hpp" 11 #include "pinocchio/serialization/se3.hpp" 12 #include "pinocchio/serialization/inertia.hpp" 16 namespace serialization
19 template <
class Archive,
typename Scalar,
int Options>
20 void serialize(Archive & ar,
22 const unsigned int version)
24 ar & make_nvp(
"name",f.
name);
25 ar & make_nvp(
"parent",f.
parent);
28 ar & make_nvp(
"type",f.
type);
31 ar & make_nvp(
"inertia",f.
inertia);
34 template<
typename Scalar,
int Options>
35 struct version<
pinocchio::FrameTpl<Scalar,Options> >
43 #endif // ifndef __pinocchio_serialization_frame_hpp__
A Plucker coordinate frame attached to a parent joint inside a kinematic tree.
SE3 placement
Placement of the frame wrt the parent joint.
std::string name
Name of the frame.
JointIndex parent
Index of the parent joint.
FrameIndex previousFrame
Index of the previous frame.
FrameType type
Type of the frame.
Inertia inertia
Inertia information attached to the frame. This inertia will be appended to the inertia supported by ...
Main pinocchio namespace.