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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_motion_subspace_hpp__ |
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#define __pinocchio_serialization_joints_motion_subspace_hpp__ |
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#include "pinocchio/serialization/fwd.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, int axis> |
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void serialize( |
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Archive & /*ar*/, |
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pinocchio::JointMotionSubspaceRevoluteTpl<Scalar, Options, axis> & /*S*/, |
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const unsigned int /*version*/) |
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{ |
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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::JointMotionSubspacePrismaticTpl<Scalar, Options, axis> & /*S*/, |
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const unsigned int /*version*/) |
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{ |
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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::JointMotionSubspaceHelicalTpl<Scalar, Options, axis> & S, |
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const unsigned int /*version*/) |
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{ |
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ar & make_nvp("h", S.h()); |
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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::JointMotionSubspaceSphericalTpl<Scalar, Options> & /*S*/, |
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const unsigned int /*version*/) |
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{ |
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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::JointMotionSubspaceTranslationTpl<Scalar, Options> & /*S*/, |
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const unsigned int /*version*/) |
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{ |
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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::JointMotionSubspaceIdentityTpl<Scalar, Options> & /*S*/, |
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const unsigned int /*version*/) |
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{ |
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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::JointMotionSubspaceRevoluteUnalignedTpl<Scalar, Options> & S, |
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const unsigned int /*version*/) |
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{ |
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ar & make_nvp("axis", S.axis()); |
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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::JointMotionSubspacePrismaticUnalignedTpl<Scalar, Options> & S, |
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const unsigned int /*version*/) |
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{ |
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ar & make_nvp("axis", S.axis()); |
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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::JointMotionSubspaceHelicalUnalignedTpl<Scalar, Options> & S, |
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const unsigned int /*version*/) |
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{ |
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ar & make_nvp("axis", S.axis()); |
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ar & make_nvp("h", S.h()); |
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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::JointMotionSubspaceUniversalTpl<Scalar, Options> & S, |
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const unsigned int /*version*/) |
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{ |
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ar & make_nvp("angularSubspace", S.angularSubspace()); |
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} |
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template<class Archive, int Dim, typename Scalar, int Options> |
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void serialize( |
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Archive & ar, |
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pinocchio::JointMotionSubspaceTpl<Dim, Scalar, Options> & S, |
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const unsigned int /*version*/) |
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{ |
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ar & make_nvp("matrix", S.matrix()); |
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} |
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template<class Archive, class Constraint> |
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void serialize( |
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Archive & ar, |
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pinocchio::ScaledJointMotionSubspace<Constraint> & S, |
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const unsigned int /*version*/) |
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{ |
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ar & make_nvp("scaling", S.scaling()); |
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ar & make_nvp("constraint", S.constraint()); |
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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::JointMotionSubspacePlanarTpl<Scalar, Options> & /*S*/, |
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const unsigned int /*version*/) |
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{ |
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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::JointMotionSubspaceSphericalZYXTpl<Scalar, Options> & S, |
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const unsigned int /*version*/) |
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{ |
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ar & make_nvp("angularSubspace", S.angularSubspace()); |
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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_motion_subspace_hpp__ |
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