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// |
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// Copyright (c) 2019 INRIA |
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// |
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#ifndef __pinocchio_serialization_inertia_hpp__ |
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#define __pinocchio_serialization_inertia_hpp__ |
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#include "pinocchio/spatial/inertia.hpp" |
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#include "pinocchio/serialization/fwd.hpp" |
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#include "pinocchio/serialization/symmetric3.hpp" |
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#include <boost/serialization/split_free.hpp> |
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#include <boost/serialization/vector.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 save( |
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Archive & ar, |
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const pinocchio::InertiaTpl<Scalar, Options> & I, |
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const unsigned int /*version*/) |
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{ |
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const Scalar mass = I.mass(); |
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ar & make_nvp("mass", mass); |
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ar & make_nvp("lever", make_array(I.lever().data(), 3)); |
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ar & make_nvp("inertia", I.inertia()); |
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} |
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template<class Archive, typename Scalar, int Options> |
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void |
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load(Archive & ar, pinocchio::InertiaTpl<Scalar, Options> & I, const unsigned int /*version*/) |
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{ |
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ar >> make_nvp("mass", I.mass()); |
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ar >> make_nvp("lever", make_array(I.lever().data(), 3)); |
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ar >> make_nvp("inertia", I.inertia()); |
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} |
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template<class Archive, typename Scalar, int Options> |
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void |
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serialize(Archive & ar, pinocchio::InertiaTpl<Scalar, Options> & I, const unsigned int version) |
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{ |
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split_free(ar, I, version); |
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} |
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} // namespace serialization |
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} // namespace boost |
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#endif // ifndef __pinocchio_serialization_inertia_hpp__ |
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