Line |
Branch |
Exec |
Source |
1 |
|
|
// |
2 |
|
|
// Copyright (c) 2019-2020 INRIA |
3 |
|
|
// |
4 |
|
|
|
5 |
|
|
#ifndef __pinocchio_serialization_joints_motion_subspace_hpp__ |
6 |
|
|
#define __pinocchio_serialization_joints_motion_subspace_hpp__ |
7 |
|
|
|
8 |
|
|
#include "pinocchio/serialization/fwd.hpp" |
9 |
|
|
|
10 |
|
|
#include <boost/serialization/split_free.hpp> |
11 |
|
|
#include <boost/serialization/vector.hpp> |
12 |
|
|
|
13 |
|
|
namespace boost |
14 |
|
|
{ |
15 |
|
|
namespace serialization |
16 |
|
|
{ |
17 |
|
|
|
18 |
|
|
template<class Archive, typename Scalar, int Options, int axis> |
19 |
|
✗ |
void serialize( |
20 |
|
|
Archive & /*ar*/, |
21 |
|
|
pinocchio::JointMotionSubspaceRevoluteTpl<Scalar, Options, axis> & /*S*/, |
22 |
|
|
const unsigned int /*version*/) |
23 |
|
|
{ |
24 |
|
|
} |
25 |
|
|
|
26 |
|
|
template<class Archive, typename Scalar, int Options, int axis> |
27 |
|
✗ |
void serialize( |
28 |
|
|
Archive & /*ar*/, |
29 |
|
|
pinocchio::JointMotionSubspacePrismaticTpl<Scalar, Options, axis> & /*S*/, |
30 |
|
|
const unsigned int /*version*/) |
31 |
|
|
{ |
32 |
|
|
} |
33 |
|
|
|
34 |
|
|
template<class Archive, typename Scalar, int Options, int axis> |
35 |
|
✗ |
void serialize( |
36 |
|
|
Archive & ar, |
37 |
|
|
pinocchio::JointMotionSubspaceHelicalTpl<Scalar, Options, axis> & S, |
38 |
|
|
const unsigned int /*version*/) |
39 |
|
|
{ |
40 |
|
✗ |
ar & make_nvp("h", S.h()); |
41 |
|
|
} |
42 |
|
|
|
43 |
|
|
template<class Archive, typename Scalar, int Options> |
44 |
|
✗ |
void serialize( |
45 |
|
|
Archive & /*ar*/, |
46 |
|
|
pinocchio::JointMotionSubspaceSphericalTpl<Scalar, Options> & /*S*/, |
47 |
|
|
const unsigned int /*version*/) |
48 |
|
|
{ |
49 |
|
|
} |
50 |
|
|
|
51 |
|
|
template<class Archive, typename Scalar, int Options> |
52 |
|
✗ |
void serialize( |
53 |
|
|
Archive & /*ar*/, |
54 |
|
|
pinocchio::JointMotionSubspaceTranslationTpl<Scalar, Options> & /*S*/, |
55 |
|
|
const unsigned int /*version*/) |
56 |
|
|
{ |
57 |
|
|
} |
58 |
|
|
|
59 |
|
|
template<class Archive, typename Scalar, int Options> |
60 |
|
✗ |
void serialize( |
61 |
|
|
Archive & /*ar*/, |
62 |
|
|
pinocchio::JointMotionSubspaceIdentityTpl<Scalar, Options> & /*S*/, |
63 |
|
|
const unsigned int /*version*/) |
64 |
|
|
{ |
65 |
|
|
} |
66 |
|
|
|
67 |
|
|
template<class Archive, typename Scalar, int Options> |
68 |
|
✗ |
void serialize( |
69 |
|
|
Archive & ar, |
70 |
|
|
pinocchio::JointMotionSubspaceRevoluteUnalignedTpl<Scalar, Options> & S, |
71 |
|
|
const unsigned int /*version*/) |
72 |
|
|
{ |
73 |
|
✗ |
ar & make_nvp("axis", S.axis()); |
74 |
|
|
} |
75 |
|
|
|
76 |
|
|
template<class Archive, typename Scalar, int Options> |
77 |
|
✗ |
void serialize( |
78 |
|
|
Archive & ar, |
79 |
|
|
pinocchio::JointMotionSubspacePrismaticUnalignedTpl<Scalar, Options> & S, |
80 |
|
|
const unsigned int /*version*/) |
81 |
|
|
{ |
82 |
|
✗ |
ar & make_nvp("axis", S.axis()); |
83 |
|
|
} |
84 |
|
|
|
85 |
|
|
template<class Archive, typename Scalar, int Options> |
86 |
|
✗ |
void serialize( |
87 |
|
|
Archive & ar, |
88 |
|
|
pinocchio::JointMotionSubspaceHelicalUnalignedTpl<Scalar, Options> & S, |
89 |
|
|
const unsigned int /*version*/) |
90 |
|
|
{ |
91 |
|
✗ |
ar & make_nvp("axis", S.axis()); |
92 |
|
✗ |
ar & make_nvp("h", S.h()); |
93 |
|
|
} |
94 |
|
|
|
95 |
|
|
template<class Archive, typename Scalar, int Options> |
96 |
|
✗ |
void serialize( |
97 |
|
|
Archive & ar, |
98 |
|
|
pinocchio::JointMotionSubspaceUniversalTpl<Scalar, Options> & S, |
99 |
|
|
const unsigned int /*version*/) |
100 |
|
|
{ |
101 |
|
✗ |
ar & make_nvp("angularSubspace", S.angularSubspace()); |
102 |
|
|
} |
103 |
|
|
|
104 |
|
|
template<class Archive, int Dim, typename Scalar, int Options> |
105 |
|
✗ |
void serialize( |
106 |
|
|
Archive & ar, |
107 |
|
|
pinocchio::JointMotionSubspaceTpl<Dim, Scalar, Options> & S, |
108 |
|
|
const unsigned int /*version*/) |
109 |
|
|
{ |
110 |
|
✗ |
ar & make_nvp("matrix", S.matrix()); |
111 |
|
|
} |
112 |
|
|
|
113 |
|
|
template<class Archive, class Constraint> |
114 |
|
✗ |
void serialize( |
115 |
|
|
Archive & ar, |
116 |
|
|
pinocchio::ScaledJointMotionSubspace<Constraint> & S, |
117 |
|
|
const unsigned int /*version*/) |
118 |
|
|
{ |
119 |
|
✗ |
ar & make_nvp("scaling", S.scaling()); |
120 |
|
✗ |
ar & make_nvp("constraint", S.constraint()); |
121 |
|
|
} |
122 |
|
|
|
123 |
|
|
template<class Archive, typename Scalar, int Options> |
124 |
|
✗ |
void serialize( |
125 |
|
|
Archive & /*ar*/, |
126 |
|
|
pinocchio::JointMotionSubspacePlanarTpl<Scalar, Options> & /*S*/, |
127 |
|
|
const unsigned int /*version*/) |
128 |
|
|
{ |
129 |
|
|
} |
130 |
|
|
|
131 |
|
|
template<class Archive, typename Scalar, int Options> |
132 |
|
✗ |
void serialize( |
133 |
|
|
Archive & ar, |
134 |
|
|
pinocchio::JointMotionSubspaceSphericalZYXTpl<Scalar, Options> & S, |
135 |
|
|
const unsigned int /*version*/) |
136 |
|
|
{ |
137 |
|
✗ |
ar & make_nvp("angularSubspace", S.angularSubspace()); |
138 |
|
|
} |
139 |
|
|
|
140 |
|
|
} // namespace serialization |
141 |
|
|
} // namespace boost |
142 |
|
|
|
143 |
|
|
#endif // ifndef __pinocchio_serialization_joints_motion_subspace_hpp__ |
144 |
|
|
|