GCC Code Coverage Report

Directory: ./
File: include/pinocchio/serialization/data.hpp
Date: 2025-02-12 21:03:38
Exec Total Coverage
Lines: 111 111 100.0%
Branches: 109 218 50.0%
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1 //
2 // Copyright (c) 2019 INRIA
3 //
4
5 #ifndef __pinocchio_multibody_data_serialization_hpp__
6 #define __pinocchio_multibody_data_serialization_hpp__
7
8 #include <boost/serialization/variant.hpp>
9 #include <boost/serialization/vector.hpp>
10
11 #include "pinocchio/serialization/aligned-vector.hpp"
12 #include "pinocchio/serialization/spatial.hpp"
13 #include "pinocchio/serialization/eigen.hpp"
14 #include "pinocchio/serialization/joints.hpp"
15 #include "pinocchio/serialization/frame.hpp"
16
17 #define PINOCCHIO_MAKE_DATA_NVP(ar, data, field_name) ar & make_nvp(#field_name, data.field_name)
18
19 namespace boost
20 {
21 namespace serialization
22 {
23 template<
24 class Archive,
25 typename Scalar,
26 int Options,
27 template<typename, int> class JointCollectionTpl>
28 32 void serialize(
29 Archive & ar,
30 pinocchio::DataTpl<Scalar, Options, JointCollectionTpl> & data,
31 const unsigned int /*version*/)
32 {
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 32 PINOCCHIO_MAKE_DATA_NVP(ar, data, joints);
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 32 PINOCCHIO_MAKE_DATA_NVP(ar, data, a);
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 32 PINOCCHIO_MAKE_DATA_NVP(ar, data, oa);
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 32 PINOCCHIO_MAKE_DATA_NVP(ar, data, oa_drift);
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 32 PINOCCHIO_MAKE_DATA_NVP(ar, data, oa_augmented);
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 32 PINOCCHIO_MAKE_DATA_NVP(ar, data, a_gf);
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 32 PINOCCHIO_MAKE_DATA_NVP(ar, data, oa_gf);
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 32 PINOCCHIO_MAKE_DATA_NVP(ar, data, v);
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 32 PINOCCHIO_MAKE_DATA_NVP(ar, data, ov);
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 32 PINOCCHIO_MAKE_DATA_NVP(ar, data, f);
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 32 PINOCCHIO_MAKE_DATA_NVP(ar, data, of);
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 32 PINOCCHIO_MAKE_DATA_NVP(ar, data, of_augmented);
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 32 PINOCCHIO_MAKE_DATA_NVP(ar, data, h);
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 32 PINOCCHIO_MAKE_DATA_NVP(ar, data, oh);
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 32 PINOCCHIO_MAKE_DATA_NVP(ar, data, oMi);
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 32 PINOCCHIO_MAKE_DATA_NVP(ar, data, liMi);
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 32 PINOCCHIO_MAKE_DATA_NVP(ar, data, tau);
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 32 PINOCCHIO_MAKE_DATA_NVP(ar, data, nle);
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 32 PINOCCHIO_MAKE_DATA_NVP(ar, data, g);
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 32 PINOCCHIO_MAKE_DATA_NVP(ar, data, oMf);
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 32 PINOCCHIO_MAKE_DATA_NVP(ar, data, Ycrb);
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 32 PINOCCHIO_MAKE_DATA_NVP(ar, data, dYcrb);
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 32 PINOCCHIO_MAKE_DATA_NVP(ar, data, M);
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 32 PINOCCHIO_MAKE_DATA_NVP(ar, data, Minv);
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 32 PINOCCHIO_MAKE_DATA_NVP(ar, data, C);
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 32 PINOCCHIO_MAKE_DATA_NVP(ar, data, dHdq);
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 32 PINOCCHIO_MAKE_DATA_NVP(ar, data, dFdq);
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 32 PINOCCHIO_MAKE_DATA_NVP(ar, data, dFdv);
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 32 PINOCCHIO_MAKE_DATA_NVP(ar, data, dFda);
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 32 PINOCCHIO_MAKE_DATA_NVP(ar, data, SDinv);
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 32 PINOCCHIO_MAKE_DATA_NVP(ar, data, UDinv);
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 32 PINOCCHIO_MAKE_DATA_NVP(ar, data, IS);
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 32 PINOCCHIO_MAKE_DATA_NVP(ar, data, vxI);
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 32 PINOCCHIO_MAKE_DATA_NVP(ar, data, Ivx);
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 32 PINOCCHIO_MAKE_DATA_NVP(ar, data, B);
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 32 PINOCCHIO_MAKE_DATA_NVP(ar, data, oinertias);
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 32 PINOCCHIO_MAKE_DATA_NVP(ar, data, oYcrb);
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 32 PINOCCHIO_MAKE_DATA_NVP(ar, data, doYcrb);
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 32 PINOCCHIO_MAKE_DATA_NVP(ar, data, ddq);
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 32 PINOCCHIO_MAKE_DATA_NVP(ar, data, Yaba);
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 32 PINOCCHIO_MAKE_DATA_NVP(ar, data, oYaba);
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 32 PINOCCHIO_MAKE_DATA_NVP(ar, data, oYaba_contact);
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 32 PINOCCHIO_MAKE_DATA_NVP(ar, data, oL);
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 32 PINOCCHIO_MAKE_DATA_NVP(ar, data, oK);
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 32 PINOCCHIO_MAKE_DATA_NVP(ar, data, u);
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 32 PINOCCHIO_MAKE_DATA_NVP(ar, data, Ag);
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 32 PINOCCHIO_MAKE_DATA_NVP(ar, data, dAg);
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 32 PINOCCHIO_MAKE_DATA_NVP(ar, data, hg);
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 32 PINOCCHIO_MAKE_DATA_NVP(ar, data, dhg);
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 32 PINOCCHIO_MAKE_DATA_NVP(ar, data, Ig);
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 32 PINOCCHIO_MAKE_DATA_NVP(ar, data, Fcrb);
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 32 PINOCCHIO_MAKE_DATA_NVP(ar, data, lastChild);
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 32 PINOCCHIO_MAKE_DATA_NVP(ar, data, nvSubtree);
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 32 PINOCCHIO_MAKE_DATA_NVP(ar, data, start_idx_v_fromRow);
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 32 PINOCCHIO_MAKE_DATA_NVP(ar, data, end_idx_v_fromRow);
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 32 PINOCCHIO_MAKE_DATA_NVP(ar, data, U);
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 32 PINOCCHIO_MAKE_DATA_NVP(ar, data, D);
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 32 PINOCCHIO_MAKE_DATA_NVP(ar, data, Dinv);
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 32 PINOCCHIO_MAKE_DATA_NVP(ar, data, parents_fromRow);
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 32 PINOCCHIO_MAKE_DATA_NVP(ar, data, supports_fromRow);
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 32 PINOCCHIO_MAKE_DATA_NVP(ar, data, nvSubtree_fromRow);
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 32 PINOCCHIO_MAKE_DATA_NVP(ar, data, J);
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 32 PINOCCHIO_MAKE_DATA_NVP(ar, data, dJ);
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 32 PINOCCHIO_MAKE_DATA_NVP(ar, data, ddJ);
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 32 PINOCCHIO_MAKE_DATA_NVP(ar, data, psid);
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 32 PINOCCHIO_MAKE_DATA_NVP(ar, data, psidd);
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 32 PINOCCHIO_MAKE_DATA_NVP(ar, data, dVdq);
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 32 PINOCCHIO_MAKE_DATA_NVP(ar, data, dAdq);
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 32 PINOCCHIO_MAKE_DATA_NVP(ar, data, dAdv);
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 32 PINOCCHIO_MAKE_DATA_NVP(ar, data, dtau_dq);
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 32 PINOCCHIO_MAKE_DATA_NVP(ar, data, dtau_dv);
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 32 PINOCCHIO_MAKE_DATA_NVP(ar, data, ddq_dq);
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 32 PINOCCHIO_MAKE_DATA_NVP(ar, data, ddq_dv);
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 32 PINOCCHIO_MAKE_DATA_NVP(ar, data, dvc_dq);
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 32 PINOCCHIO_MAKE_DATA_NVP(ar, data, dac_dq);
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 32 PINOCCHIO_MAKE_DATA_NVP(ar, data, dac_dv);
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 32 PINOCCHIO_MAKE_DATA_NVP(ar, data, dac_da);
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 32 PINOCCHIO_MAKE_DATA_NVP(ar, data, osim);
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 32 PINOCCHIO_MAKE_DATA_NVP(ar, data, dlambda_dq);
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 32 PINOCCHIO_MAKE_DATA_NVP(ar, data, dlambda_dv);
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 32 PINOCCHIO_MAKE_DATA_NVP(ar, data, dlambda_dtau);
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 32 PINOCCHIO_MAKE_DATA_NVP(ar, data, dlambda_dx_prox);
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 32 PINOCCHIO_MAKE_DATA_NVP(ar, data, drhs_prox);
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 32 PINOCCHIO_MAKE_DATA_NVP(ar, data, iMf);
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 32 PINOCCHIO_MAKE_DATA_NVP(ar, data, com);
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 32 PINOCCHIO_MAKE_DATA_NVP(ar, data, vcom);
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 32 PINOCCHIO_MAKE_DATA_NVP(ar, data, acom);
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 32 PINOCCHIO_MAKE_DATA_NVP(ar, data, mass);
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 32 PINOCCHIO_MAKE_DATA_NVP(ar, data, Jcom);
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 32 PINOCCHIO_MAKE_DATA_NVP(ar, data, kinetic_energy);
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 32 PINOCCHIO_MAKE_DATA_NVP(ar, data, potential_energy);
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 32 PINOCCHIO_MAKE_DATA_NVP(ar, data, mechanical_energy);
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 32 PINOCCHIO_MAKE_DATA_NVP(ar, data, JMinvJt);
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 32 PINOCCHIO_MAKE_DATA_NVP(ar, data, lambda_c);
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 32 PINOCCHIO_MAKE_DATA_NVP(ar, data, torque_residual);
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 32 PINOCCHIO_MAKE_DATA_NVP(ar, data, dq_after);
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 32 PINOCCHIO_MAKE_DATA_NVP(ar, data, impulse_c);
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 32 PINOCCHIO_MAKE_DATA_NVP(ar, data, lambda_c_prox);
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 32 PINOCCHIO_MAKE_DATA_NVP(ar, data, diff_lambda_c);
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 32 PINOCCHIO_MAKE_DATA_NVP(ar, data, sDUiJt);
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 32 PINOCCHIO_MAKE_DATA_NVP(ar, data, staticRegressor);
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 32 PINOCCHIO_MAKE_DATA_NVP(ar, data, bodyRegressor);
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 32 PINOCCHIO_MAKE_DATA_NVP(ar, data, jointTorqueRegressor);
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 32 PINOCCHIO_MAKE_DATA_NVP(ar, data, d2tau_dqdq);
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 32 PINOCCHIO_MAKE_DATA_NVP(ar, data, d2tau_dvdv);
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 32 PINOCCHIO_MAKE_DATA_NVP(ar, data, d2tau_dqdv);
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 32 PINOCCHIO_MAKE_DATA_NVP(ar, data, d2tau_dadq);
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 32 PINOCCHIO_MAKE_DATA_NVP(ar, data, kinematic_hessians);
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 32 PINOCCHIO_MAKE_DATA_NVP(ar, data, primal_dual_contact_solution);
142 32 }
143
144 } // namespace serialization
145 } // namespace boost
146
147 #undef PINOCCHIO_MAKE_DATA_NVP
148
149 #endif // ifndef __pinocchio_multibody_data_serialization_hpp__
150