pinocchio  2.6.3
A fast and flexible implementation of Rigid Body Dynamics algorithms and their analytical derivatives
frame.hpp
1 //
2 // Copyright (c) 2019-2021 INRIA
3 //
4 
5 #ifndef __pinocchio_serialization_frame_hpp__
6 #define __pinocchio_serialization_frame_hpp__
7 
8 #include "pinocchio/multibody/frame.hpp"
9 
10 #include "pinocchio/serialization/fwd.hpp"
11 #include "pinocchio/serialization/se3.hpp"
12 #include "pinocchio/serialization/inertia.hpp"
13 
14 namespace boost
15 {
16  namespace serialization
17  {
18 
19  template <class Archive, typename Scalar, int Options>
20  void serialize(Archive & ar,
22  const unsigned int version)
23  {
24  ar & make_nvp("name",f.name);
25  ar & make_nvp("parent",f.parent);
26  ar & make_nvp("previousFrame",f.previousFrame);
27  ar & make_nvp("placement",f.placement);
28  ar & make_nvp("type",f.type);
29 
30  if(version > 0)
31  ar & make_nvp("inertia",f.inertia);
32  }
33 
34  template<typename Scalar, int Options>
35  struct version< pinocchio::FrameTpl<Scalar,Options> >
36  {
37  enum { value = 1 };
38  };
39 
40  }
41 }
42 
43 #endif // ifndef __pinocchio_serialization_frame_hpp__
Definition: casadi.hpp:15
A Plucker coordinate frame attached to a parent joint inside a kinematic tree.
Definition: frame.hpp:32
SE3 placement
Placement of the frame wrt the parent joint.
Definition: frame.hpp:129
std::string name
Name of the frame.
Definition: frame.hpp:120
JointIndex parent
Index of the parent joint.
Definition: frame.hpp:123
FrameIndex previousFrame
Index of the previous frame.
Definition: frame.hpp:126
FrameType type
Type of the frame.
Definition: frame.hpp:132
Inertia inertia
Inertia information attached to the frame. This inertia will be appended to the inertia supported by ...
Definition: frame.hpp:137
Main pinocchio namespace.
Definition: treeview.dox:24