5 #ifndef __pinocchio_serialization_inertia_hpp__
6 #define __pinocchio_serialization_inertia_hpp__
8 #include "pinocchio/spatial/inertia.hpp"
9 #include "pinocchio/serialization/fwd.hpp"
10 #include "pinocchio/serialization/symmetric3.hpp"
12 #include <boost/serialization/split_free.hpp>
13 #include <boost/serialization/vector.hpp>
17 namespace serialization
20 template <
class Archive,
typename Scalar,
int Options>
21 void save(Archive & ar,
25 const Scalar mass = I.mass();
26 ar & make_nvp(
"mass",mass);
27 ar & make_nvp(
"lever",make_array(I.lever().data(),3));
28 ar & make_nvp(
"inertia",I.inertia());
31 template <
class Archive,
typename Scalar,
int Options>
32 void load(Archive & ar,
36 ar >> make_nvp(
"mass",I.mass());
37 ar >> make_nvp(
"lever",make_array(I.lever().data(),3));
38 ar >> make_nvp(
"inertia",I.inertia());
41 template <
class Archive,
typename Scalar,
int Options>
42 void serialize(Archive & ar,
44 const unsigned int version)
46 split_free(ar,I,version);
52 #endif // ifndef __pinocchio_serialization_inertia_hpp__