pinocchio  3.7.0
A fast and flexible implementation of Rigid Body Dynamics algorithms and their analytical derivatives
 
Loading...
Searching...
No Matches
joints-motion-subspace.hpp
1//
2// Copyright (c) 2019-2020 INRIA
3//
4
5#ifndef __pinocchio_serialization_joints_motion_subspace_hpp__
6#define __pinocchio_serialization_joints_motion_subspace_hpp__
7
8#include "pinocchio/serialization/fwd.hpp"
9
10#include <boost/serialization/split_free.hpp>
11#include <boost/serialization/vector.hpp>
12
13namespace boost
14{
15 namespace serialization
16 {
17
18 template<class Archive, typename Scalar, int Options, int axis>
19 void serialize(
20 Archive & /*ar*/,
22 const unsigned int /*version*/)
23 {
24 }
25
26 template<class Archive, typename Scalar, int Options, int axis>
27 void serialize(
28 Archive & /*ar*/,
30 const unsigned int /*version*/)
31 {
32 }
33
34 template<class Archive, typename Scalar, int Options, int axis>
35 void serialize(
36 Archive & ar,
38 const unsigned int /*version*/)
39 {
40 ar & make_nvp("h", S.h());
41 }
42
43 template<class Archive, typename Scalar, int Options>
44 void serialize(
45 Archive & /*ar*/,
47 const unsigned int /*version*/)
48 {
49 }
50
51 template<class Archive, typename Scalar, int Options>
52 void serialize(
53 Archive & /*ar*/,
55 const unsigned int /*version*/)
56 {
57 }
58
59 template<class Archive, typename Scalar, int Options>
60 void serialize(
61 Archive & /*ar*/,
63 const unsigned int /*version*/)
64 {
65 }
66
67 template<class Archive, typename Scalar, int Options>
68 void serialize(
69 Archive & ar,
71 const unsigned int /*version*/)
72 {
73 ar & make_nvp("axis", S.axis());
74 }
75
76 template<class Archive, typename Scalar, int Options>
77 void serialize(
78 Archive & ar,
80 const unsigned int /*version*/)
81 {
82 ar & make_nvp("axis", S.axis());
83 }
84
85 template<class Archive, typename Scalar, int Options>
86 void serialize(
87 Archive & ar,
89 const unsigned int /*version*/)
90 {
91 ar & make_nvp("axis", S.axis());
92 ar & make_nvp("h", S.h());
93 }
94
95 template<class Archive, typename Scalar, int Options>
96 void serialize(
97 Archive & ar,
99 const unsigned int /*version*/)
100 {
101 ar & make_nvp("angularSubspace", S.angularSubspace());
102 }
103
104 template<class Archive, int Dim, typename Scalar, int Options, int MaxDim>
105 void serialize(
106 Archive & ar,
108 const unsigned int /*version*/)
109 {
110 ar & make_nvp("matrix", S.matrix());
111 }
112
113 template<class Archive, typename Scalar, int Options, int MaxDim>
114 void serialize(
115 Archive & ar,
117 const unsigned int /*version*/)
118 {
119 ar & make_nvp("scaling", S.scaling());
120 ar & make_nvp("constraint", S.constraint());
121 }
122
123 template<class Archive, typename Scalar, int Options>
124 void serialize(
125 Archive & /*ar*/,
127 const unsigned int /*version*/)
128 {
129 }
130
131 template<class Archive, typename Scalar, int Options>
132 void serialize(
133 Archive & ar,
135 const unsigned int /*version*/)
136 {
137 ar & make_nvp("angularSubspace", S.angularSubspace());
138 }
139
140 } // namespace serialization
141} // namespace boost
142
143#endif // ifndef __pinocchio_serialization_joints_motion_subspace_hpp__