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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 serialize(Archive & ar, |
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pinocchio::FrameTpl<Scalar,Options> & f, |
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const unsigned int version) |
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{ |
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✓✗ |
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ar & make_nvp("name",f.name); |
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✓✗ |
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ar & make_nvp("parent",f.parent); |
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✓✗ |
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ar & make_nvp("previousFrame",f.previousFrame); |
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✓✗ |
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ar & make_nvp("placement",f.placement); |
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✓✗ |
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ar & make_nvp("type",f.type); |
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✓✗ |
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if(version > 0) |
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✓✗ |
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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 { value = 1 }; |
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}; |
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} |
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} |
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#endif // ifndef __pinocchio_serialization_frame_hpp__ |