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// |
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// Copyright (c) 2019-2021 INRIA |
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// |
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#ifndef __pinocchio_serialization_frame_hpp__ |
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#define __pinocchio_serialization_frame_hpp__ |
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#include "pinocchio/multibody/frame.hpp" |
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#include "pinocchio/serialization/fwd.hpp" |
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#include "pinocchio/serialization/se3.hpp" |
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#include "pinocchio/serialization/inertia.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> |
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void |
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serialize(Archive & ar, pinocchio::FrameTpl<Scalar, Options> & f, const unsigned int version) |
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{ |
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ar & make_nvp("name", f.name); |
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ar & make_nvp("parent", f.parentJoint); |
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ar & make_nvp("parentFrame", f.parentFrame); |
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ar & make_nvp("placement", f.placement); |
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ar & make_nvp("type", f.type); |
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if (version > 0) |
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ar & make_nvp("inertia", f.inertia); |
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} |
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template<typename Scalar, int Options> |
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struct version<pinocchio::FrameTpl<Scalar, Options>> |
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{ |
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enum |
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{ |
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value = 1 |
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}; |
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}; |
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} // namespace serialization |
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} // namespace boost |
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#endif // ifndef __pinocchio_serialization_frame_hpp__ |
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