pinocchio
2.4.5
A fast and flexible implementation of Rigid Body Dynamics algorithms and their analytical derivatives
joints-transform.hpp
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//
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// Copyright (c) 2019 INRIA
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//
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#ifndef __pinocchio_serialization_joints_transform_hpp__
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#define __pinocchio_serialization_joints_transform_hpp__
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#include "pinocchio/spatial/motion.hpp"
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#include "pinocchio/serialization/fwd.hpp"
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#include <boost/serialization/split_free.hpp>
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#include <boost/serialization/vector.hpp>
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namespace
boost
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{
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namespace
serialization
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{
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template
<
class
Archive,
typename
Scalar,
int
Options,
int
axis>
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void
serialize(Archive & ar,
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pinocchio::TransformRevoluteTpl<Scalar,Options,axis>
& m,
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const
unsigned
int
/*version*/
)
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{
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ar & make_nvp(
"sin"
,m.sin());
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ar & make_nvp(
"cos"
,m.cos());
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}
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template
<
class
Archive,
typename
Scalar,
int
Options,
int
axis>
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void
serialize(Archive & ar,
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pinocchio::TransformPrismaticTpl<Scalar,Options,axis>
& m,
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const
unsigned
int
/*version*/
)
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{
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ar & make_nvp(
"displacement"
,m.displacement());
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}
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template
<
class
Archive,
typename
Scalar,
int
Options>
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void
serialize(Archive & ar,
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pinocchio::TransformTranslationTpl<Scalar,Options>
& m,
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const
unsigned
int
/*version*/
)
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{
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ar & make_nvp(
"translation"
,m.translation());
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}
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}
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}
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#endif // ifndef __pinocchio_serialization_joints_transform_hpp__
pinocchio::TransformPrismaticTpl
Definition:
joint-prismatic.hpp:176
pinocchio::TransformRevoluteTpl
Definition:
joint-revolute.hpp:56
pinocchio::TransformTranslationTpl
Definition:
joint-translation.hpp:175
src
serialization
joints-transform.hpp
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