5#ifndef __pinocchio_serialization_inertia_hpp__
6#define __pinocchio_serialization_inertia_hpp__
8#include "pinocchio/spatial/inertia.hpp"
9#include "pinocchio/serialization/fwd.hpp"
10#include "pinocchio/serialization/symmetric3.hpp"
12#include <boost/serialization/split_free.hpp>
13#include <boost/serialization/vector.hpp>
17 namespace serialization
20 template<
class Archive,
typename Scalar,
int Options>
26 const Scalar mass = I.mass();
27 ar & make_nvp(
"mass", mass);
28 ar & make_nvp(
"lever", make_array(I.lever().data(), 3));
29 ar & make_nvp(
"inertia", I.inertia());
32 template<
class Archive,
typename Scalar,
int Options>
36 ar >> make_nvp(
"mass", I.mass());
37 ar >> make_nvp(
"lever", make_array(I.lever().data(), 3));
38 ar >> make_nvp(
"inertia", I.inertia());
41 template<
class Archive,
typename Scalar,
int Options>
45 split_free(ar, I, version);