1 |
|
|
// |
2 |
|
|
// Copyright (c) 2019 INRIA |
3 |
|
|
// |
4 |
|
|
|
5 |
|
|
#ifndef __pinocchio_serialization_se3_hpp__ |
6 |
|
|
#define __pinocchio_serialization_se3_hpp__ |
7 |
|
|
|
8 |
|
|
#include "pinocchio/spatial/se3.hpp" |
9 |
|
|
#include "pinocchio/serialization/fwd.hpp" |
10 |
|
|
|
11 |
|
|
#include <boost/serialization/split_free.hpp> |
12 |
|
|
#include <boost/serialization/vector.hpp> |
13 |
|
|
|
14 |
|
|
namespace boost |
15 |
|
|
{ |
16 |
|
|
namespace serialization |
17 |
|
|
{ |
18 |
|
|
|
19 |
|
|
template <class Archive, typename Scalar, int Options> |
20 |
|
4306 |
void save(Archive & ar, |
21 |
|
|
const pinocchio::SE3Tpl<Scalar,Options> & M, |
22 |
|
|
const unsigned int /*version*/) |
23 |
|
|
{ |
24 |
✓✗✓✗
|
4306 |
ar & make_nvp("translation",make_array(M.translation().data(),3)); |
25 |
✓✗✓✗
|
4306 |
ar & make_nvp("rotation",make_array(M.rotation().data(),9)); |
26 |
|
4306 |
} |
27 |
|
|
|
28 |
|
|
template <class Archive, typename Scalar, int Options> |
29 |
|
3808 |
void load(Archive & ar, |
30 |
|
|
pinocchio::SE3Tpl<Scalar,Options> & M, |
31 |
|
|
const unsigned int /*version*/) |
32 |
|
|
{ |
33 |
✓✗✓✗
|
3808 |
ar >> make_nvp("translation",make_array(M.translation().data(),3)); |
34 |
✓✗✓✗
|
3808 |
ar >> make_nvp("rotation",make_array(M.rotation().data(),9)); |
35 |
|
3808 |
} |
36 |
|
|
|
37 |
|
|
template <class Archive, typename Scalar, int Options> |
38 |
|
8114 |
void serialize(Archive & ar, |
39 |
|
|
pinocchio::SE3Tpl<Scalar,Options> & M, |
40 |
|
|
const unsigned int version) |
41 |
|
|
{ |
42 |
|
8114 |
split_free(ar,M,version); |
43 |
|
8114 |
} |
44 |
|
|
|
45 |
|
|
} |
46 |
|
|
} |
47 |
|
|
|
48 |
|
|
#endif // ifndef __pinocchio_serialization_se3_hpp__ |