5 #ifndef __pinocchio_multibody_model_serialization_hpp__
6 #define __pinocchio_multibody_model_serialization_hpp__
8 #include <boost/serialization/string.hpp>
9 #include <boost/serialization/variant.hpp>
10 #include <boost/serialization/vector.hpp>
11 #include <boost/serialization/map.hpp>
13 #include "pinocchio/serialization/fwd.hpp"
14 #include "pinocchio/serialization/aligned-vector.hpp"
15 #include "pinocchio/serialization/spatial.hpp"
16 #include "pinocchio/serialization/joints.hpp"
17 #include "pinocchio/serialization/frame.hpp"
21 namespace serialization
23 template<
class Archive,
typename Scalar,
int Options,
template<
typename,
int>
class JointCollectionTpl>
24 void serialize(Archive & ar,
28 ar & make_nvp(
"nq",model.nq);
29 ar & make_nvp(
"nqs",model.nqs);
30 ar & make_nvp(
"idx_qs",model.idx_qs);
31 ar & make_nvp(
"nv",model.nv);
32 ar & make_nvp(
"nvs",model.nvs);
33 ar & make_nvp(
"idx_vs",model.idx_vs);
34 ar & make_nvp(
"njoints",model.njoints);
35 ar & make_nvp(
"nbodies",model.nbodies);
36 ar & make_nvp(
"nframes",model.nframes);
37 ar & make_nvp(
"parents",model.parents);
38 ar & make_nvp(
"names",model.names);
39 ar & make_nvp(
"supports",model.supports);
40 ar & make_nvp(
"subtrees",model.subtrees);
41 ar & make_nvp(
"gravity",model.gravity);
42 ar & make_nvp(
"name",model.name);
44 ar & make_nvp(
"referenceConfigurations",model.referenceConfigurations);
45 ar & make_nvp(
"rotorInertia",model.rotorInertia);
46 ar & make_nvp(
"rotorGearRatio",model.rotorGearRatio);
47 ar & make_nvp(
"friction",model.friction);
48 ar & make_nvp(
"damping",model.damping);
49 ar & make_nvp(
"effortLimit",model.effortLimit);
50 ar & make_nvp(
"velocityLimit",model.velocityLimit);
51 ar & make_nvp(
"lowerPositionLimit",model.lowerPositionLimit);
52 ar & make_nvp(
"upperPositionLimit",model.upperPositionLimit);
54 ar & make_nvp(
"inertias",model.inertias);
55 ar & make_nvp(
"jointPlacements",model.jointPlacements);
57 ar & make_nvp(
"joints",model.joints);
58 ar & make_nvp(
"frames",model.frames);
64 #endif // ifndef __pinocchio_multibody_model_serialization_hpp__