pinocchio  2.5.0
A fast and flexible implementation of Rigid Body Dynamics algorithms and their analytical derivatives
joints-motion.hpp
1 //
2 // Copyright (c) 2019 INRIA
3 //
4 
5 #ifndef __pinocchio_serialization_joints_motion_hpp__
6 #define __pinocchio_serialization_joints_motion_hpp__
7 
8 #include "pinocchio/serialization/fwd.hpp"
9 
10 #include <boost/serialization/split_free.hpp>
11 #include <boost/serialization/vector.hpp>
12 
13 namespace boost
14 {
15  namespace serialization
16  {
17 
18  template <class Archive, typename Scalar, int Options, int axis>
19  void serialize(Archive & ar,
21  const unsigned int /*version*/)
22  {
23  ar & make_nvp("w",m.angularRate());
24  }
25 
26  template <class Archive, typename Scalar, int Options, int axis>
27  void serialize(Archive & ar,
29  const unsigned int /*version*/)
30  {
31  ar & make_nvp("v",m.linearRate());
32  }
33 
34  template <class Archive, typename Scalar, int Options>
35  void serialize(Archive & ar,
37  const unsigned int /*version*/)
38  {
39  ar & make_nvp("angular",m.angular());
40  }
41 
42  template <class Archive, typename Scalar, int Options>
43  void serialize(Archive & ar,
45  const unsigned int /*version*/)
46  {
47  ar & make_nvp("linear",m.linear());
48  }
49 
50  template <class Archive, typename Scalar, int Options>
51  void serialize(Archive & ar,
53  const unsigned int /*version*/)
54  {
55  ar & make_nvp("data",m.data());
56  }
57 
58  template <class Archive, typename Scalar, int Options>
59  void serialize(Archive & ar,
61  const unsigned int /*version*/)
62  {
63  ar & make_nvp("axis",m.axis());
64  ar & make_nvp("w",m.angularRate());
65  }
66 
67  template <class Archive, typename Scalar, int Options>
68  void serialize(Archive & ar,
70  const unsigned int /*version*/)
71  {
72  ar & make_nvp("axis",m.axis());
73  ar & make_nvp("v",m.linearRate());
74  }
75 
76  }
77 }
78 
79 #endif // ifndef __pinocchio_serialization_joints_motion_hpp__
pinocchio::MotionPrismaticUnalignedTpl
Definition: joint-prismatic-unaligned.hpp:19
pinocchio::MotionPrismaticTpl
Definition: joint-prismatic.hpp:19
pinocchio::MotionRevoluteTpl
Definition: joint-revolute.hpp:19
pinocchio::MotionSphericalTpl
Definition: joint-spherical.hpp:19
pinocchio::MotionRevoluteUnalignedTpl
Definition: joint-revolute-unaligned.hpp:18
pinocchio::MotionPlanarTpl
Definition: joint-planar.hpp:19
pinocchio::MotionTranslationTpl
Definition: joint-translation.hpp:18