pinocchio
2.6.0
A fast and flexible implementation of Rigid Body Dynamics algorithms and their analytical derivatives
frame.hpp
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//
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// Copyright (c) 2019-2021 INRIA
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//
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#ifndef __pinocchio_serialization_frame_hpp__
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#define __pinocchio_serialization_frame_hpp__
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#include "pinocchio/multibody/frame.hpp"
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#include "pinocchio/serialization/fwd.hpp"
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#include "pinocchio/serialization/se3.hpp"
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#include "pinocchio/serialization/inertia.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>
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void
serialize(Archive & ar,
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pinocchio::FrameTpl<Scalar,Options>
& f,
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const
unsigned
int
version)
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{
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ar & make_nvp(
"name"
,f.
name
);
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ar & make_nvp(
"parent"
,f.
parent
);
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ar & make_nvp(
"previousFrame"
,f.
previousFrame
);
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ar & make_nvp(
"placement"
,f.
placement
);
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ar & make_nvp(
"type"
,f.
type
);
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if
(version > 0)
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ar & make_nvp(
"inertia"
,f.
inertia
);
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}
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template
<
typename
Scalar,
int
Options>
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struct
version<
pinocchio
::FrameTpl<Scalar,Options> >
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{
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enum
{ value = 1 };
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};
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}
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}
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#endif // ifndef __pinocchio_serialization_frame_hpp__
pinocchio::FrameTpl::type
FrameType type
Type of the frame.
Definition:
frame.hpp:132
pinocchio::FrameTpl::inertia
Inertia inertia
Inertia information attached to the frame. This inertia will be appended to the inertia supported by ...
Definition:
frame.hpp:137
pinocchio::FrameTpl
A Plucker coordinate frame attached to a parent joint inside a kinematic tree.
Definition:
frame.hpp:32
pinocchio::FrameTpl::placement
SE3 placement
Placement of the frame wrt the parent joint.
Definition:
frame.hpp:129
pinocchio::FrameTpl::parent
JointIndex parent
Index of the parent joint.
Definition:
frame.hpp:123
pinocchio::FrameTpl::name
std::string name
Name of the frame.
Definition:
frame.hpp:120
pinocchio::FrameTpl::previousFrame
FrameIndex previousFrame
Index of the previous frame.
Definition:
frame.hpp:126
pinocchio
Main pinocchio namespace.
Definition:
treeview.dox:24
src
serialization
frame.hpp
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