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// |
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// Copyright (c) 2019 INRIA |
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// |
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#ifndef __pinocchio_multibody_model_serialization_hpp__ |
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#define __pinocchio_multibody_model_serialization_hpp__ |
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#include <boost/serialization/string.hpp> |
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#include <boost/serialization/variant.hpp> |
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#include <boost/serialization/vector.hpp> |
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#include <boost/serialization/map.hpp> |
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#include "pinocchio/serialization/fwd.hpp" |
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#include "pinocchio/serialization/aligned-vector.hpp" |
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#include "pinocchio/serialization/spatial.hpp" |
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#include "pinocchio/serialization/joints.hpp" |
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#include "pinocchio/serialization/frame.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, template<typename,int> class JointCollectionTpl> |
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void serialize(Archive & ar, |
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pinocchio::ModelTpl<Scalar,Options,JointCollectionTpl> & model, |
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const unsigned int /*version*/) |
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{ |
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✓✗ |
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ar & make_nvp("nq",model.nq); |
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✓✗ |
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ar & make_nvp("nqs",model.nqs); |
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✓✗ |
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ar & make_nvp("idx_qs",model.idx_qs); |
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✓✗ |
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ar & make_nvp("nv",model.nv); |
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✓✗ |
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ar & make_nvp("nvs",model.nvs); |
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✓✗ |
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ar & make_nvp("idx_vs",model.idx_vs); |
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✓✗ |
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ar & make_nvp("njoints",model.njoints); |
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✓✗ |
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ar & make_nvp("nbodies",model.nbodies); |
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✓✗ |
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ar & make_nvp("nframes",model.nframes); |
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✓✗ |
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ar & make_nvp("parents",model.parents); |
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✓✗ |
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ar & make_nvp("names",model.names); |
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✓✗ |
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ar & make_nvp("supports",model.supports); |
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✓✗ |
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ar & make_nvp("subtrees",model.subtrees); |
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✓✗ |
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ar & make_nvp("gravity",model.gravity); |
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✓✗ |
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ar & make_nvp("name",model.name); |
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✓✗ |
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ar & make_nvp("referenceConfigurations",model.referenceConfigurations); |
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✓✗ |
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ar & make_nvp("rotorInertia",model.rotorInertia); |
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✓✗ |
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ar & make_nvp("rotorGearRatio",model.rotorGearRatio); |
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✓✗ |
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ar & make_nvp("friction",model.friction); |
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✓✗ |
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ar & make_nvp("damping",model.damping); |
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✓✗ |
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ar & make_nvp("effortLimit",model.effortLimit); |
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✓✗ |
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ar & make_nvp("velocityLimit",model.velocityLimit); |
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✓✗ |
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ar & make_nvp("lowerPositionLimit",model.lowerPositionLimit); |
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✓✗ |
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ar & make_nvp("upperPositionLimit",model.upperPositionLimit); |
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✓✗ |
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ar & make_nvp("inertias",model.inertias); |
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✓✗ |
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ar & make_nvp("jointPlacements",model.jointPlacements); |
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✓✗ |
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ar & make_nvp("joints",model.joints); |
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✓✗ |
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ar & make_nvp("frames",model.frames); |
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} |
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} // namespace serialization |
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} // namespace boost |
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#endif // ifndef __pinocchio_multibody_model_serialization_hpp__ |