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// |
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// Copyright (c) 2019 INRIA |
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// |
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#ifndef __pinocchio_serialization_joints_motion_hpp__ |
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#define __pinocchio_serialization_joints_motion_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::MotionRevoluteTpl<Scalar, Options, axis> & m, |
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const unsigned int /*version*/) |
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{ |
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ar & make_nvp("w", m.angularRate()); |
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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::MotionPrismaticTpl<Scalar, Options, axis> & m, |
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const unsigned int /*version*/) |
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{ |
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ar & make_nvp("v", m.linearRate()); |
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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::MotionHelicalTpl<Scalar, Options, axis> & m, |
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const unsigned int /*version*/) |
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{ |
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ar & make_nvp("w", m.angularRate()); |
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ar & make_nvp("v", m.linearRate()); |
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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::MotionSphericalTpl<Scalar, Options> & m, |
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const unsigned int /*version*/) |
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{ |
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ar & make_nvp("angular", m.angular()); |
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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::MotionTranslationTpl<Scalar, Options> & m, |
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const unsigned int /*version*/) |
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{ |
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ar & make_nvp("linear", m.linear()); |
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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, pinocchio::MotionPlanarTpl<Scalar, Options> & m, const unsigned int /*version*/) |
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{ |
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ar & make_nvp("data", m.data()); |
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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::MotionRevoluteUnalignedTpl<Scalar, Options> & m, |
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const unsigned int /*version*/) |
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{ |
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ar & make_nvp("axis", m.axis()); |
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ar & make_nvp("w", m.angularRate()); |
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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::MotionPrismaticUnalignedTpl<Scalar, Options> & m, |
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const unsigned int /*version*/) |
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{ |
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ar & make_nvp("axis", m.axis()); |
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ar & make_nvp("v", m.linearRate()); |
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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::MotionHelicalUnalignedTpl<Scalar, Options> & m, |
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const unsigned int /*version*/) |
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{ |
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ar & make_nvp("axis", m.axis()); |
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ar & make_nvp("w", m.angularRate()); |
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ar & make_nvp("v", m.linearRate()); |
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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_hpp__ |
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