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// Copyright (c) 2019 INRIA |
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#ifndef __pinocchio_serialization_joints_model_hpp__ |
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#define __pinocchio_serialization_joints_model_hpp__ |
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namespace pinocchio |
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{ |
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template<typename Scalar, int Options, template<typename S, int O> class JointCollectionTpl> |
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struct Serialize< JointModelCompositeTpl<Scalar,Options,JointCollectionTpl> > |
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{ |
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template<typename Archive> |
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static void run(Archive & ar, |
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JointModelCompositeTpl<Scalar,Options,JointCollectionTpl> & joint) |
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{ |
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using boost::serialization::make_nvp; |
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✓✗ |
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ar & make_nvp("m_nq",joint.m_nq); |
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✓✗ |
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ar & make_nvp("m_nv",joint.m_nv); |
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✓✗ |
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ar & make_nvp("m_idx_q",joint.m_idx_q); |
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✓✗ |
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ar & make_nvp("m_nqs",joint.m_nqs); |
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✓✗ |
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ar & make_nvp("m_idx_v",joint.m_idx_v); |
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✓✗ |
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ar & make_nvp("m_nvs",joint.m_nvs); |
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✓✗ |
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ar & make_nvp("njoints",joint.njoints); |
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✓✗ |
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ar & make_nvp("joints",joint.joints); |
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✓✗ |
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ar & make_nvp("jointPlacements",joint.jointPlacements); |
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} |
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}; |
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} |
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namespace boost |
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{ |
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namespace serialization |
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// For some older version of gcc, we have to rely on an additional namespace |
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// to avoid ambiguous call to boost::serialization::serialize |
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namespace fix |
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{ |
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template <class Archive, typename Derived> |
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void serialize(Archive & ar, |
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pinocchio::JointModelBase<Derived> & joint, |
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const unsigned int version) |
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{ |
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split_free(ar, joint, version); |
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} |
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} |
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template<class Archive, typename Derived> |
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void save(Archive & ar, |
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const pinocchio::JointModelBase<Derived> & joint, |
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const unsigned int /*version*/) |
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{ |
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✓✗ |
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const pinocchio::JointIndex i_id = joint.id(); |
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✓✗✓✗
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const int i_q = joint.idx_q(), i_v = joint.idx_v(); |
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✓✗✓✗
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ar & make_nvp("i_id",i_id); |
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✓✗✓✗
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ar & make_nvp("i_q",i_q); |
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✓✗✓✗
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ar & make_nvp("i_v",i_v); |
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} |
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template<class Archive, typename Derived> |
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void load(Archive & ar, |
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pinocchio::JointModelBase<Derived> & joint, |
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const unsigned int /*version*/) |
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{ |
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pinocchio::JointIndex i_id; |
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int i_q, i_v; |
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✓✗✓✗
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ar & make_nvp("i_id",i_id); |
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✓✗✓✗
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ar & make_nvp("i_q",i_q); |
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✓✗✓✗
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ar & make_nvp("i_v",i_v); |
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✓✗ |
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joint.setIndexes(i_id,i_q,i_v); |
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} |
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template <class Archive, typename Scalar, int Options, int axis> |
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void serialize(Archive & ar, |
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pinocchio::JointModelRevoluteTpl<Scalar,Options,axis> & joint, |
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const unsigned int version) |
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{ |
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typedef pinocchio::JointModelRevoluteTpl<Scalar,Options,axis> JointType; |
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// ar & make_nvp("base_class",base_object< pinocchio::JointModelBase<JointType> >(joint)); |
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fix::serialize(ar,*static_cast<pinocchio::JointModelBase<JointType> *>(&joint),version); |
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} |
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template <class Archive, typename Scalar, int Options, int axis> |
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void serialize(Archive & ar, |
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pinocchio::JointModelRevoluteUnboundedTpl<Scalar,Options,axis> & joint, |
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const unsigned int version) |
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{ |
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typedef pinocchio::JointModelRevoluteUnboundedTpl<Scalar,Options,axis> JointType; |
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// ar & make_nvp("base_class",base_object< pinocchio::JointModelBase<JointType> >(joint)); |
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fix::serialize(ar,*static_cast<pinocchio::JointModelBase<JointType> *>(&joint),version); |
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} |
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template <class Archive, typename Scalar, int Options, int axis> |
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void serialize(Archive & ar, |
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pinocchio::JointModelPrismaticTpl<Scalar,Options,axis> & joint, |
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const unsigned int version) |
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{ |
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typedef pinocchio::JointModelPrismaticTpl<Scalar,Options,axis> JointType; |
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// ar & make_nvp("base_class",base_object< pinocchio::JointModelBase<JointType> >(joint)); |
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fix::serialize(ar,*static_cast<pinocchio::JointModelBase<JointType> *>(&joint),version); |
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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::JointModelFreeFlyerTpl<Scalar,Options> & joint, |
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const unsigned int version) |
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{ |
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typedef pinocchio::JointModelFreeFlyerTpl<Scalar,Options> JointType; |
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// ar & make_nvp("base_class",base_object< pinocchio::JointModelBase<JointType> >(joint)); |
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fix::serialize(ar,*static_cast<pinocchio::JointModelBase<JointType> *>(&joint),version); |
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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::JointModelPlanarTpl<Scalar,Options> & joint, |
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const unsigned int version) |
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{ |
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typedef pinocchio::JointModelPlanarTpl<Scalar,Options> JointType; |
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// ar & make_nvp("base_class",base_object< pinocchio::JointModelBase<JointType> >(joint)); |
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fix::serialize(ar,*static_cast<pinocchio::JointModelBase<JointType> *>(&joint),version); |
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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::JointModelSphericalTpl<Scalar,Options> & joint, |
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const unsigned int version) |
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{ |
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typedef pinocchio::JointModelSphericalTpl<Scalar,Options> JointType; |
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// ar & make_nvp("base_class",base_object< pinocchio::JointModelBase<JointType> >(joint)); |
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fix::serialize(ar,*static_cast<pinocchio::JointModelBase<JointType> *>(&joint),version); |
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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::JointModelSphericalZYXTpl<Scalar,Options> & joint, |
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const unsigned int version) |
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{ |
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typedef pinocchio::JointModelSphericalZYXTpl<Scalar,Options> JointType; |
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// ar & make_nvp("base_class",base_object< pinocchio::JointModelBase<JointType> >(joint)); |
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fix::serialize(ar,*static_cast<pinocchio::JointModelBase<JointType> *>(&joint),version); |
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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::JointModelTranslationTpl<Scalar,Options> & joint, |
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const unsigned int version) |
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{ |
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typedef pinocchio::JointModelTranslationTpl<Scalar,Options> JointType; |
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// ar & make_nvp("base_class",base_object< pinocchio::JointModelBase<JointType> >(joint)); |
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fix::serialize(ar,*static_cast<pinocchio::JointModelBase<JointType> *>(&joint),version); |
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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::JointModelRevoluteUnalignedTpl<Scalar,Options> & joint, |
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const unsigned int version) |
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{ |
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typedef pinocchio::JointModelRevoluteUnalignedTpl<Scalar,Options> JointType; |
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// ar & make_nvp("base_class",base_object< pinocchio::JointModelBase<JointType> >(joint)); |
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fix::serialize(ar,*static_cast<pinocchio::JointModelBase<JointType> *>(&joint),version); |
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✓✗ |
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ar & make_nvp("axis",joint.axis); |
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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::JointModelRevoluteUnboundedUnalignedTpl<Scalar,Options> & joint, |
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const unsigned int version) |
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{ |
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typedef pinocchio::JointModelRevoluteUnboundedUnalignedTpl<Scalar,Options> JointType; |
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// ar & make_nvp("base_class",base_object< pinocchio::JointModelBase<JointType> >(joint)); |
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fix::serialize(ar,*static_cast<pinocchio::JointModelBase<JointType> *>(&joint),version); |
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✓✗ |
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ar & make_nvp("axis",joint.axis); |
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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::JointModelPrismaticUnalignedTpl<Scalar,Options> & joint, |
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const unsigned int version) |
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{ |
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typedef pinocchio::JointModelPrismaticUnalignedTpl<Scalar,Options> JointType; |
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// ar & make_nvp("base_class",base_object< pinocchio::JointModelBase<JointType> >(joint)); |
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fix::serialize(ar,*static_cast<pinocchio::JointModelBase<JointType> *>(&joint),version); |
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✓✗ |
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ar & make_nvp("axis",joint.axis); |
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} |
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template <class Archive, typename Scalar, int Options, template<typename S, int O> class JointCollectionTpl> |
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void serialize(Archive & ar, |
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pinocchio::JointModelCompositeTpl<Scalar,Options,JointCollectionTpl> & joint, |
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const unsigned int version) |
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{ |
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typedef pinocchio::JointModelCompositeTpl<Scalar,Options,JointCollectionTpl> JointType; |
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// ar & make_nvp("base_class",base_object< pinocchio::JointModelBase<JointType> >(joint)); |
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fix::serialize(ar,*static_cast<pinocchio::JointModelBase<JointType> *>(&joint),version); |
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::pinocchio::Serialize<JointType>::run(ar,joint); |
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} |
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template <class Archive, typename Scalar, int Options, template<typename S, int O> class JointCollectionTpl> |
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void serialize(Archive & ar, |
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pinocchio::JointModelTpl<Scalar,Options,JointCollectionTpl> & joint, |
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const unsigned int version) |
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{ |
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typedef pinocchio::JointModelTpl<Scalar,Options,JointCollectionTpl> JointType; |
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// ar & make_nvp("base_class",base_object< pinocchio::JointModelBase<JointType> >(joint)); |
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fix::serialize(ar,*static_cast<pinocchio::JointModelBase<JointType> *>(&joint),version); |
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typedef typename JointCollectionTpl<Scalar,Options>::JointModelVariant JointModelVariant; |
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✓✗ |
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ar & make_nvp("base_variant",base_object<JointModelVariant>(joint)); |
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} |
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template <class Archive, typename JointModel> |
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void serialize(Archive & ar, |
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pinocchio::JointModelMimic<JointModel> & joint, |
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const unsigned int version) |
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{ |
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typedef pinocchio::JointModelMimic<JointModel> JointType; |
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// ar & make_nvp("base_class",base_object< pinocchio::JointModelBase<JointType> >(joint)); |
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fix::serialize(ar,*static_cast<pinocchio::JointModelBase<JointType> *>(&joint),version); |
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✓✗ |
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ar & make_nvp("jmodel",joint.jmodel()); |
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✓✗ |
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ar & make_nvp("scaling",joint.scaling()); |
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✓✗ |
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ar & make_nvp("offset",joint.offset()); |
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} |
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} |
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} |
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#endif // ifndef __pinocchio_serialization_joints_model_hpp__ |
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