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// |
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// Copyright (c) 2019-2020 INRIA |
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// |
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#ifndef __pinocchio_serialization_joints_data_hpp__ |
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#define __pinocchio_serialization_joints_data_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<JointDataCompositeTpl<Scalar, Options, JointCollectionTpl>> |
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{ |
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template<typename Archive> |
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static void |
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run(Archive & ar, JointDataCompositeTpl<Scalar, Options, JointCollectionTpl> & joint_data) |
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{ |
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using boost::serialization::make_nvp; |
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ar & make_nvp("joints", joint_data.joints); |
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ar & make_nvp("iMlast", joint_data.iMlast); |
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ar & make_nvp("pjMi", joint_data.pjMi); |
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ar & make_nvp("S", joint_data.S); |
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ar & make_nvp("M", joint_data.M); |
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ar & make_nvp("v", joint_data.v); |
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ar & make_nvp("c", joint_data.c); |
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ar & make_nvp("U", joint_data.U); |
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ar & make_nvp("Dinv", joint_data.Dinv); |
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ar & make_nvp("UDinv", joint_data.UDinv); |
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ar & make_nvp("StU", joint_data.StU); |
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} |
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}; |
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} // namespace pinocchio |
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namespace boost |
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{ |
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namespace serialization |
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{ |
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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( |
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Archive & ar, |
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pinocchio::JointDataBase<Derived> & joint_data, |
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const unsigned int /*version*/) |
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{ |
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ar & make_nvp("joint_q", joint_data.joint_q()); |
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ar & make_nvp("joint_v", joint_data.joint_v()); |
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ar & make_nvp("S", joint_data.S()); |
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ar & make_nvp("M", joint_data.M()); |
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ar & make_nvp("v", joint_data.v()); |
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ar & make_nvp("c", joint_data.c()); |
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ar & make_nvp("U", joint_data.U()); |
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ar & make_nvp("Dinv", joint_data.Dinv()); |
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ar & make_nvp("UDinv", joint_data.UDinv()); |
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ar & make_nvp("StU", joint_data.StU()); |
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} |
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} // namespace fix |
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template<class Archive, typename Scalar, int Options, int axis> |
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void serialize( |
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Archive & ar, |
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pinocchio::JointDataRevoluteTpl<Scalar, Options, axis> & joint, |
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const unsigned int version) |
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{ |
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typedef pinocchio::JointDataRevoluteTpl<Scalar, Options, axis> JointType; |
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fix::serialize(ar, static_cast<pinocchio::JointDataBase<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( |
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Archive & ar, |
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pinocchio::JointDataRevoluteUnboundedTpl<Scalar, Options, axis> & joint, |
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const unsigned int version) |
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{ |
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typedef pinocchio::JointDataRevoluteUnboundedTpl<Scalar, Options, axis> JointType; |
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fix::serialize(ar, static_cast<pinocchio::JointDataBase<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( |
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Archive & ar, |
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pinocchio::JointDataPrismaticTpl<Scalar, Options, axis> & joint, |
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const unsigned int version) |
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{ |
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typedef pinocchio::JointDataPrismaticTpl<Scalar, Options, axis> JointType; |
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fix::serialize(ar, static_cast<pinocchio::JointDataBase<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( |
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Archive & ar, |
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pinocchio::JointDataHelicalTpl<Scalar, Options, axis> & joint, |
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const unsigned int version) |
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{ |
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typedef pinocchio::JointDataHelicalTpl<Scalar, Options, axis> JointType; |
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fix::serialize(ar, static_cast<pinocchio::JointDataBase<JointType> &>(joint), version); |
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} |
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template<class Archive, typename Scalar, int Options> |
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void serialize( |
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Archive & ar, |
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pinocchio::JointDataHelicalUnalignedTpl<Scalar, Options> & joint, |
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const unsigned int version) |
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{ |
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typedef pinocchio::JointDataHelicalUnalignedTpl<Scalar, Options> JointType; |
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fix::serialize(ar, static_cast<pinocchio::JointDataBase<JointType> &>(joint), version); |
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} |
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template<class Archive, typename Scalar, int Options> |
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void serialize( |
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Archive & ar, |
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pinocchio::JointDataFreeFlyerTpl<Scalar, Options> & joint, |
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const unsigned int version) |
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{ |
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typedef pinocchio::JointDataFreeFlyerTpl<Scalar, Options> JointType; |
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fix::serialize(ar, static_cast<pinocchio::JointDataBase<JointType> &>(joint), version); |
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} |
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template<class Archive, typename Scalar, int Options> |
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void serialize( |
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Archive & ar, |
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pinocchio::JointDataPlanarTpl<Scalar, Options> & joint, |
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const unsigned int version) |
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{ |
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typedef pinocchio::JointDataPlanarTpl<Scalar, Options> JointType; |
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fix::serialize(ar, static_cast<pinocchio::JointDataBase<JointType> &>(joint), version); |
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} |
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template<class Archive, typename Scalar, int Options> |
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void serialize( |
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Archive & ar, |
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pinocchio::JointDataSphericalTpl<Scalar, Options> & joint, |
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const unsigned int version) |
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{ |
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typedef pinocchio::JointDataSphericalTpl<Scalar, Options> JointType; |
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fix::serialize(ar, static_cast<pinocchio::JointDataBase<JointType> &>(joint), version); |
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} |
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template<class Archive, typename Scalar, int Options> |
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void serialize( |
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Archive & ar, |
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pinocchio::JointDataSphericalZYXTpl<Scalar, Options> & joint, |
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const unsigned int version) |
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{ |
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typedef pinocchio::JointDataSphericalZYXTpl<Scalar, Options> JointType; |
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fix::serialize(ar, static_cast<pinocchio::JointDataBase<JointType> &>(joint), version); |
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} |
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template<class Archive, typename Scalar, int Options> |
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void serialize( |
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Archive & ar, |
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pinocchio::JointDataTranslationTpl<Scalar, Options> & joint, |
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const unsigned int version) |
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{ |
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typedef pinocchio::JointDataTranslationTpl<Scalar, Options> JointType; |
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fix::serialize(ar, static_cast<pinocchio::JointDataBase<JointType> &>(joint), version); |
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} |
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template<class Archive, typename Scalar, int Options> |
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void serialize( |
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Archive & ar, |
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pinocchio::JointDataRevoluteUnalignedTpl<Scalar, Options> & joint, |
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const unsigned int version) |
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{ |
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typedef pinocchio::JointDataRevoluteUnalignedTpl<Scalar, Options> JointType; |
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fix::serialize(ar, static_cast<pinocchio::JointDataBase<JointType> &>(joint), version); |
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} |
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template<class Archive, typename Scalar, int Options> |
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void serialize( |
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Archive & ar, |
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pinocchio::JointDataRevoluteUnboundedUnalignedTpl<Scalar, Options> & joint, |
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const unsigned int version) |
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{ |
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typedef pinocchio::JointDataRevoluteUnboundedUnalignedTpl<Scalar, Options> JointType; |
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fix::serialize(ar, static_cast<pinocchio::JointDataBase<JointType> &>(joint), version); |
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} |
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template<class Archive, typename Scalar, int Options> |
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void serialize( |
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Archive & ar, |
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pinocchio::JointDataPrismaticUnalignedTpl<Scalar, Options> & joint, |
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const unsigned int version) |
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{ |
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typedef pinocchio::JointDataPrismaticUnalignedTpl<Scalar, Options> JointType; |
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fix::serialize(ar, static_cast<pinocchio::JointDataBase<JointType> &>(joint), version); |
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} |
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template<class Archive, typename Scalar, int Options> |
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void serialize( |
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Archive & ar, |
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pinocchio::JointDataUniversalTpl<Scalar, Options> & joint, |
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const unsigned int version) |
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{ |
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typedef pinocchio::JointDataUniversalTpl<Scalar, Options> JointType; |
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fix::serialize(ar, static_cast<pinocchio::JointDataBase<JointType> &>(joint), version); |
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} |
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template< |
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class Archive, |
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typename Scalar, |
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int Options, |
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template<typename S, int O> |
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class JointCollectionTpl> |
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void serialize( |
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Archive & ar, |
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pinocchio::JointDataCompositeTpl<Scalar, Options, JointCollectionTpl> & joint, |
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const unsigned int version) |
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{ |
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typedef pinocchio::JointDataCompositeTpl<Scalar, Options, JointCollectionTpl> JointType; |
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fix::serialize(ar, static_cast<pinocchio::JointDataBase<JointType> &>(joint), version); |
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::pinocchio::Serialize<JointType>::run(ar, joint); |
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} |
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template< |
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class Archive, |
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typename Scalar, |
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int Options, |
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template<typename S, int O> |
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class JointCollectionTpl> |
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void serialize( |
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Archive & ar, |
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pinocchio::JointDataTpl<Scalar, Options, JointCollectionTpl> & joint, |
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const unsigned int /*version*/) |
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{ |
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typedef typename JointCollectionTpl<Scalar, Options>::JointDataVariant JointDataVariant; |
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ar & make_nvp("base_variant", base_object<JointDataVariant>(joint)); |
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} |
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template<class Archive, typename JointData> |
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void serialize( |
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Archive & ar, pinocchio::JointDataMimic<JointData> & joint, const unsigned int version) |
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{ |
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typedef pinocchio::JointDataMimic<JointData> JointType; |
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fix::serialize(ar, static_cast<pinocchio::JointDataBase<JointType> &>(joint), version); |
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ar & make_nvp("jdata", joint.jdata()); |
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ar & make_nvp("scaling", joint.scaling()); |
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} |
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} // namespace serialization |
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} // namespace boost |
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#endif // ifndef __pinocchio_serialization_joints_data_hpp__ |
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