| Directory: | ./ |
|---|---|
| File: | include/pinocchio/serialization/inertia.hpp |
| Date: | 2025-02-12 21:03:38 |
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| Lines: | 14 | 14 | 100.0% |
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| 1 | // | ||
| 2 | // Copyright (c) 2019 INRIA | ||
| 3 | // | ||
| 4 | |||
| 5 | #ifndef __pinocchio_serialization_inertia_hpp__ | ||
| 6 | #define __pinocchio_serialization_inertia_hpp__ | ||
| 7 | |||
| 8 | #include "pinocchio/spatial/inertia.hpp" | ||
| 9 | #include "pinocchio/serialization/fwd.hpp" | ||
| 10 | #include "pinocchio/serialization/symmetric3.hpp" | ||
| 11 | |||
| 12 | #include <boost/serialization/split_free.hpp> | ||
| 13 | #include <boost/serialization/vector.hpp> | ||
| 14 | |||
| 15 | namespace boost | ||
| 16 | { | ||
| 17 | namespace serialization | ||
| 18 | { | ||
| 19 | |||
| 20 | template<class Archive, typename Scalar, int Options> | ||
| 21 | 3687 | void save( | |
| 22 | Archive & ar, | ||
| 23 | const pinocchio::InertiaTpl<Scalar, Options> & I, | ||
| 24 | const unsigned int /*version*/) | ||
| 25 | { | ||
| 26 | 3687 | const Scalar mass = I.mass(); | |
| 27 |
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3687 | ar & make_nvp("mass", mass); |
| 28 |
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3687 | ar & make_nvp("lever", make_array(I.lever().data(), 3)); |
| 29 |
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3687 | ar & make_nvp("inertia", I.inertia()); |
| 30 | 3687 | } | |
| 31 | |||
| 32 | template<class Archive, typename Scalar, int Options> | ||
| 33 | void | ||
| 34 | 3189 | load(Archive & ar, pinocchio::InertiaTpl<Scalar, Options> & I, const unsigned int /*version*/) | |
| 35 | { | ||
| 36 |
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3189 | ar >> make_nvp("mass", I.mass()); |
| 37 |
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3189 | ar >> make_nvp("lever", make_array(I.lever().data(), 3)); |
| 38 |
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3189 | ar >> make_nvp("inertia", I.inertia()); |
| 39 | 3189 | } | |
| 40 | |||
| 41 | template<class Archive, typename Scalar, int Options> | ||
| 42 | void | ||
| 43 | 7042 | serialize(Archive & ar, pinocchio::InertiaTpl<Scalar, Options> & I, const unsigned int version) | |
| 44 | { | ||
| 45 | 7042 | split_free(ar, I, version); | |
| 46 | 7042 | } | |
| 47 | |||
| 48 | } // namespace serialization | ||
| 49 | } // namespace boost | ||
| 50 | |||
| 51 | #endif // ifndef __pinocchio_serialization_inertia_hpp__ | ||
| 52 |