pinocchio
3.7.0
A fast and flexible implementation of Rigid Body Dynamics algorithms and their analytical derivatives
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joints-motion.hpp
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//
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// Copyright (c) 2019 INRIA
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//
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#ifndef __pinocchio_serialization_joints_motion_hpp__
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#define __pinocchio_serialization_joints_motion_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::MotionRevoluteTpl<Scalar, Options, axis>
& m,
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const
unsigned
int
/*version*/
)
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{
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ar & make_nvp(
"w"
, m.angularRate());
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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::MotionPrismaticTpl<Scalar, Options, axis>
& m,
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const
unsigned
int
/*version*/
)
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{
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ar & make_nvp(
"v"
, m.linearRate());
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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::MotionHelicalTpl<Scalar, Options, axis>
& m,
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const
unsigned
int
/*version*/
)
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{
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ar & make_nvp(
"w"
, m.angularRate());
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ar & make_nvp(
"v"
, m.linearRate());
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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::MotionSphericalTpl<Scalar, Options>
& m,
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const
unsigned
int
/*version*/
)
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{
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ar & make_nvp(
"angular"
, m.angular());
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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::MotionTranslationTpl<Scalar, Options>
& m,
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const
unsigned
int
/*version*/
)
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{
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ar & make_nvp(
"linear"
, m.linear());
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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,
pinocchio::MotionPlanarTpl<Scalar, Options>
& m,
const
unsigned
int
/*version*/
)
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{
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ar & make_nvp(
"data"
, m.data());
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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::MotionRevoluteUnalignedTpl<Scalar, Options>
& m,
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const
unsigned
int
/*version*/
)
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{
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ar & make_nvp(
"axis"
, m.axis());
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ar & make_nvp(
"w"
, m.angularRate());
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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::MotionPrismaticUnalignedTpl<Scalar, Options>
& m,
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const
unsigned
int
/*version*/
)
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{
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ar & make_nvp(
"axis"
, m.axis());
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ar & make_nvp(
"v"
, m.linearRate());
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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::MotionHelicalUnalignedTpl<Scalar, Options>
& m,
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const
unsigned
int
/*version*/
)
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{
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ar & make_nvp(
"axis"
, m.axis());
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ar & make_nvp(
"w"
, m.angularRate());
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ar & make_nvp(
"v"
, m.linearRate());
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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_hpp__
pinocchio::ContactSolverBaseTpl
Definition
contact-solver-base.hpp:20
include
pinocchio
serialization
joints-motion.hpp
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