pinocchio
2.6.0
A fast and flexible implementation of Rigid Body Dynamics algorithms and their analytical derivatives
force.hpp
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//
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// Copyright (c) 2019 INRIA
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//
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#ifndef __pinocchio_serialization_force_hpp__
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#define __pinocchio_serialization_force_hpp__
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#include "pinocchio/spatial/force.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>
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void
save(Archive & ar,
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const
pinocchio::ForceTpl<Scalar,Options>
& f,
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const
unsigned
int
/*version*/
)
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{
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ar & make_nvp(
"linear"
,make_array(f.
linear
().data(),3));
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ar & make_nvp(
"angular"
,make_array(f.
angular
().data(),3));
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}
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template
<
class
Archive,
typename
Scalar,
int
Options>
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void
load(Archive & ar,
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pinocchio::ForceTpl<Scalar,Options>
& f,
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const
unsigned
int
/*version*/
)
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{
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ar >> make_nvp(
"linear"
,make_array(f.
linear
().data(),3));
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ar >> make_nvp(
"angular"
,make_array(f.
angular
().data(),3));
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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::ForceTpl<Scalar,Options>
& f,
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const
unsigned
int
version)
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{
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split_free(ar,f,version);
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}
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}
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}
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#endif // ifndef __pinocchio_serialization_force_hpp__
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pinocchio::ForceTpl< Scalar, Options >
pinocchio::ForceTpl::linear
ConstLinearType linear() const
Return the linear part of the force vector.
Definition:
force-base.hpp:42
pinocchio::ForceTpl::angular
ConstAngularType angular() const
Return the angular part of the force vector.
Definition:
force-base.hpp:35
src
serialization
force.hpp
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