| Directory: | ./ |
|---|---|
| File: | include/multicontact-api/serialization/spatial.hpp |
| Date: | 2025-03-10 16:17:01 |
| Exec | Total | Coverage | |
|---|---|---|---|
| Lines: | 11 | 11 | 100.0% |
| Branches: | 4 | 8 | 50.0% |
| Line | Branch | Exec | Source |
|---|---|---|---|
| 1 | // Copyright (c) 2015-2018, CNRS | ||
| 2 | // Authors: Justin Carpentier <jcarpent@laas.fr> | ||
| 3 | |||
| 4 | #ifndef __multicontact_api_serialization_spatial_hpp__ | ||
| 5 | #define __multicontact_api_serialization_spatial_hpp__ | ||
| 6 | |||
| 7 | #include <boost/serialization/split_free.hpp> | ||
| 8 | #include <boost/serialization/vector.hpp> | ||
| 9 | #include <pinocchio/spatial/force.hpp> | ||
| 10 | #include <pinocchio/spatial/se3.hpp> | ||
| 11 | |||
| 12 | namespace boost { | ||
| 13 | |||
| 14 | namespace serialization { | ||
| 15 | |||
| 16 | template <class Archive, typename _Scalar, int _Options> | ||
| 17 | 330 | void save(Archive& ar, const pinocchio::SE3Tpl<_Scalar, _Options>& M, | |
| 18 | const unsigned int /*version*/) { | ||
| 19 |
1/2✓ Branch 5 taken 165 times.
✗ Branch 6 not taken.
|
330 | ar& make_nvp("translation", make_array(M.translation().data(), 3)); |
| 20 |
1/2✓ Branch 5 taken 165 times.
✗ Branch 6 not taken.
|
330 | ar& make_nvp("rotation", make_array(M.rotation().data(), 9)); |
| 21 | 330 | } | |
| 22 | |||
| 23 | template <class Archive, typename _Scalar, int _Options> | ||
| 24 | 330 | void load(Archive& ar, pinocchio::SE3Tpl<_Scalar, _Options>& M, | |
| 25 | const unsigned int /*version*/) { | ||
| 26 |
1/2✓ Branch 5 taken 165 times.
✗ Branch 6 not taken.
|
330 | ar >> make_nvp("translation", make_array(M.translation().data(), 3)); |
| 27 |
1/2✓ Branch 5 taken 165 times.
✗ Branch 6 not taken.
|
330 | ar >> make_nvp("rotation", make_array(M.rotation().data(), 9)); |
| 28 | 330 | } | |
| 29 | |||
| 30 | template <class Archive, typename _Scalar, int _Options> | ||
| 31 | 660 | void serialize(Archive& ar, pinocchio::SE3Tpl<_Scalar, _Options>& M, | |
| 32 | const unsigned int version) { | ||
| 33 | 660 | split_free(ar, M, version); | |
| 34 | 660 | } | |
| 35 | |||
| 36 | template <class Archive, typename _Scalar, int _Options> | ||
| 37 | void save(Archive& ar, const pinocchio::ForceTpl<_Scalar, _Options>& f, | ||
| 38 | const unsigned int /*version*/) { | ||
| 39 | ar& make_nvp("linear", make_array(f.linear().data(), 3)); | ||
| 40 | ar& make_nvp("angular", make_array(f.angular().data(), 3)); | ||
| 41 | } | ||
| 42 | |||
| 43 | template <class Archive, typename _Scalar, int _Options> | ||
| 44 | void load(Archive& ar, pinocchio::ForceTpl<_Scalar, _Options>& f, | ||
| 45 | const unsigned int /*version*/) { | ||
| 46 | ar >> make_nvp("linear", make_array(f.linear().data(), 3)); | ||
| 47 | ar >> make_nvp("angular", make_array(f.angular().data(), 3)); | ||
| 48 | } | ||
| 49 | |||
| 50 | template <class Archive, typename _Scalar, int _Options> | ||
| 51 | void serialize(Archive& ar, pinocchio::ForceTpl<_Scalar, _Options>& f, | ||
| 52 | const unsigned int version) { | ||
| 53 | split_free(ar, f, version); | ||
| 54 | } | ||
| 55 | |||
| 56 | } // namespace serialization | ||
| 57 | |||
| 58 | } // namespace boost | ||
| 59 | |||
| 60 | #endif // ifndef __multicontact_api_serialization_spatial_hpp__ | ||
| 61 |