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
1//
2// Copyright (c) 2019 INRIA
3//
4
5#ifndef __pinocchio_serialization_joints_motion_hpp__
6#define __pinocchio_serialization_joints_motion_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,
21 pinocchio::MotionRevoluteTpl<Scalar, Options, axis> & m,
22 const unsigned int /*version*/)
23 {
24 ar & make_nvp("w", m.angularRate());
25 }
26
27 template<class Archive, typename Scalar, int Options, int axis>
28 void serialize(
29 Archive & ar,
30 pinocchio::MotionPrismaticTpl<Scalar, Options, axis> & m,
31 const unsigned int /*version*/)
32 {
33 ar & make_nvp("v", m.linearRate());
34 }
35
36 template<class Archive, typename Scalar, int Options, int axis>
37 void serialize(
38 Archive & ar,
39 pinocchio::MotionHelicalTpl<Scalar, Options, axis> & m,
40 const unsigned int /*version*/)
41 {
42 ar & make_nvp("w", m.angularRate());
43 ar & make_nvp("v", m.linearRate());
44 }
45
46 template<class Archive, typename Scalar, int Options>
47 void serialize(
48 Archive & ar,
49 pinocchio::MotionSphericalTpl<Scalar, Options> & m,
50 const unsigned int /*version*/)
51 {
52 ar & make_nvp("angular", m.angular());
53 }
54
55 template<class Archive, typename Scalar, int Options>
56 void serialize(
57 Archive & ar,
58 pinocchio::MotionTranslationTpl<Scalar, Options> & m,
59 const unsigned int /*version*/)
60 {
61 ar & make_nvp("linear", m.linear());
62 }
63
64 template<class Archive, typename Scalar, int Options>
65 void serialize(
66 Archive & ar, pinocchio::MotionPlanarTpl<Scalar, Options> & m, const unsigned int /*version*/)
67 {
68 ar & make_nvp("data", m.data());
69 }
70
71 template<class Archive, typename Scalar, int Options>
72 void serialize(
73 Archive & ar,
74 pinocchio::MotionRevoluteUnalignedTpl<Scalar, Options> & m,
75 const unsigned int /*version*/)
76 {
77 ar & make_nvp("axis", m.axis());
78 ar & make_nvp("w", m.angularRate());
79 }
80
81 template<class Archive, typename Scalar, int Options>
82 void serialize(
83 Archive & ar,
84 pinocchio::MotionPrismaticUnalignedTpl<Scalar, Options> & m,
85 const unsigned int /*version*/)
86 {
87 ar & make_nvp("axis", m.axis());
88 ar & make_nvp("v", m.linearRate());
89 }
90
91 template<class Archive, typename Scalar, int Options>
92 void serialize(
93 Archive & ar,
94 pinocchio::MotionHelicalUnalignedTpl<Scalar, Options> & m,
95 const unsigned int /*version*/)
96 {
97 ar & make_nvp("axis", m.axis());
98 ar & make_nvp("w", m.angularRate());
99 ar & make_nvp("v", m.linearRate());
100 }
101 } // namespace serialization
102} // namespace boost
103
104#endif // ifndef __pinocchio_serialization_joints_motion_hpp__