pinocchio
3.7.0
A fast and flexible implementation of Rigid Body Dynamics algorithms and their analytical derivatives
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joints-motion-subspace.hpp
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//
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// Copyright (c) 2019-2020 INRIA
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//
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#ifndef __pinocchio_serialization_joints_motion_subspace_hpp__
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#define __pinocchio_serialization_joints_motion_subspace_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,
int
axis>
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void
serialize(
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Archive &
/*ar*/
,
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pinocchio::JointMotionSubspaceRevoluteTpl<Scalar, Options, axis>
&
/*S*/
,
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const
unsigned
int
/*version*/
)
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{
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}
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template
<
class
Archive,
typename
Scalar,
int
Options,
int
axis>
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void
serialize(
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Archive &
/*ar*/
,
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pinocchio::JointMotionSubspacePrismaticTpl<Scalar, Options, axis>
&
/*S*/
,
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const
unsigned
int
/*version*/
)
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{
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}
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template
<
class
Archive,
typename
Scalar,
int
Options,
int
axis>
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void
serialize(
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Archive & ar,
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pinocchio::JointMotionSubspaceHelicalTpl<Scalar, Options, axis>
& S,
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const
unsigned
int
/*version*/
)
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{
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ar & make_nvp(
"h"
, S.h());
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}
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template
<
class
Archive,
typename
Scalar,
int
Options>
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void
serialize(
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Archive &
/*ar*/
,
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pinocchio::JointMotionSubspaceSphericalTpl<Scalar, Options>
&
/*S*/
,
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const
unsigned
int
/*version*/
)
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{
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}
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template
<
class
Archive,
typename
Scalar,
int
Options>
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void
serialize(
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Archive &
/*ar*/
,
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pinocchio::JointMotionSubspaceTranslationTpl<Scalar, Options>
&
/*S*/
,
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const
unsigned
int
/*version*/
)
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{
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}
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template
<
class
Archive,
typename
Scalar,
int
Options>
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void
serialize(
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Archive &
/*ar*/
,
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pinocchio::JointMotionSubspaceIdentityTpl<Scalar, Options>
&
/*S*/
,
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const
unsigned
int
/*version*/
)
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{
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}
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template
<
class
Archive,
typename
Scalar,
int
Options>
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void
serialize(
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Archive & ar,
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pinocchio::JointMotionSubspaceRevoluteUnalignedTpl<Scalar, Options>
& S,
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const
unsigned
int
/*version*/
)
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{
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ar & make_nvp(
"axis"
, S.axis());
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}
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template
<
class
Archive,
typename
Scalar,
int
Options>
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void
serialize(
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Archive & ar,
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pinocchio::JointMotionSubspacePrismaticUnalignedTpl<Scalar, Options>
& S,
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const
unsigned
int
/*version*/
)
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{
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ar & make_nvp(
"axis"
, S.axis());
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}
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template
<
class
Archive,
typename
Scalar,
int
Options>
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void
serialize(
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Archive & ar,
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pinocchio::JointMotionSubspaceHelicalUnalignedTpl<Scalar, Options>
& S,
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const
unsigned
int
/*version*/
)
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{
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ar & make_nvp(
"axis"
, S.axis());
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ar & make_nvp(
"h"
, S.h());
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}
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template
<
class
Archive,
typename
Scalar,
int
Options>
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void
serialize(
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Archive & ar,
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pinocchio::JointMotionSubspaceUniversalTpl<Scalar, Options>
& S,
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const
unsigned
int
/*version*/
)
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{
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ar & make_nvp(
"angularSubspace"
, S.angularSubspace());
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}
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template
<
class
Archive,
int
Dim,
typename
Scalar,
int
Options,
int
MaxDim>
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void
serialize(
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Archive & ar,
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pinocchio::JointMotionSubspaceTpl<Dim, Scalar, Options, MaxDim>
& S,
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const
unsigned
int
/*version*/
)
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{
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ar & make_nvp(
"matrix"
, S.matrix());
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}
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template
<
class
Archive,
typename
Scalar,
int
Options,
int
MaxDim>
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void
serialize(
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Archive & ar,
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pinocchio::ScaledJointMotionSubspaceTpl<Scalar, Options, MaxDim>
& S,
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const
unsigned
int
/*version*/
)
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{
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ar & make_nvp(
"scaling"
, S.scaling());
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ar & make_nvp(
"constraint"
, S.constraint());
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}
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template
<
class
Archive,
typename
Scalar,
int
Options>
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void
serialize(
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Archive &
/*ar*/
,
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pinocchio::JointMotionSubspacePlanarTpl<Scalar, Options>
&
/*S*/
,
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const
unsigned
int
/*version*/
)
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{
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}
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template
<
class
Archive,
typename
Scalar,
int
Options>
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void
serialize(
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Archive & ar,
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pinocchio::JointMotionSubspaceSphericalZYXTpl<Scalar, Options>
& S,
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const
unsigned
int
/*version*/
)
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{
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ar & make_nvp(
"angularSubspace"
, S.angularSubspace());
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}
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}
// namespace serialization
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}
// namespace boost
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#endif
// ifndef __pinocchio_serialization_joints_motion_subspace_hpp__
pinocchio::ContactSolverBaseTpl
Definition
contact-solver-base.hpp:20
include
pinocchio
serialization
joints-motion-subspace.hpp
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