5 #ifndef __pinocchio_serialization_se3_hpp__
6 #define __pinocchio_serialization_se3_hpp__
8 #include "pinocchio/spatial/se3.hpp"
9 #include "pinocchio/serialization/fwd.hpp"
11 #include <boost/serialization/split_free.hpp>
12 #include <boost/serialization/vector.hpp>
16 namespace serialization
19 template <
class Archive,
typename Scalar,
int Options>
20 void save(Archive & ar,
24 ar & make_nvp(
"translation",make_array(M.translation().data(),3));
25 ar & make_nvp(
"rotation",make_array(M.rotation().data(),9));
28 template <
class Archive,
typename Scalar,
int Options>
29 void load(Archive & ar,
33 ar >> make_nvp(
"translation",make_array(M.translation().data(),3));
34 ar >> make_nvp(
"rotation",make_array(M.rotation().data(),9));
37 template <
class Archive,
typename Scalar,
int Options>
38 void serialize(Archive & ar,
40 const unsigned int version)
42 split_free(ar,M,version);
48 #endif // ifndef __pinocchio_serialization_se3_hpp__