| Directory: | ./ |
|---|---|
| File: | include/pinocchio/serialization/joints-motion.hpp |
| Date: | 2025-02-12 21:03:38 |
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| Lines: | 32 | 32 | 100.0% |
| Branches: | 14 | 28 | 50.0% |
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| 1 | // | ||
| 2 | // Copyright (c) 2019 INRIA | ||
| 3 | // | ||
| 4 | |||
| 5 | #ifndef __pinocchio_serialization_joints_motion_hpp__ | ||
| 6 | #define __pinocchio_serialization_joints_motion_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 | 1508 | void serialize( | |
| 20 | Archive & ar, | ||
| 21 | pinocchio::MotionRevoluteTpl<Scalar, Options, axis> & m, | ||
| 22 | const unsigned int /*version*/) | ||
| 23 | { | ||
| 24 |
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1508 | ar & make_nvp("w", m.angularRate()); |
| 25 | 1508 | } | |
| 26 | |||
| 27 | template<class Archive, typename Scalar, int Options, int axis> | ||
| 28 | 168 | void serialize( | |
| 29 | Archive & ar, | ||
| 30 | pinocchio::MotionPrismaticTpl<Scalar, Options, axis> & m, | ||
| 31 | const unsigned int /*version*/) | ||
| 32 | { | ||
| 33 |
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168 | ar & make_nvp("v", m.linearRate()); |
| 34 | 168 | } | |
| 35 | |||
| 36 | template<class Archive, typename Scalar, int Options, int axis> | ||
| 37 | 168 | void serialize( | |
| 38 | Archive & ar, | ||
| 39 | pinocchio::MotionHelicalTpl<Scalar, Options, axis> & m, | ||
| 40 | const unsigned int /*version*/) | ||
| 41 | { | ||
| 42 |
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168 | ar & make_nvp("w", m.angularRate()); |
| 43 |
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168 | ar & make_nvp("v", m.linearRate()); |
| 44 | 168 | } | |
| 45 | |||
| 46 | template<class Archive, typename Scalar, int Options> | ||
| 47 | 280 | void serialize( | |
| 48 | Archive & ar, | ||
| 49 | pinocchio::MotionSphericalTpl<Scalar, Options> & m, | ||
| 50 | const unsigned int /*version*/) | ||
| 51 | { | ||
| 52 |
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280 | ar & make_nvp("angular", m.angular()); |
| 53 | 280 | } | |
| 54 | |||
| 55 | template<class Archive, typename Scalar, int Options> | ||
| 56 | 56 | void serialize( | |
| 57 | Archive & ar, | ||
| 58 | pinocchio::MotionTranslationTpl<Scalar, Options> & m, | ||
| 59 | const unsigned int /*version*/) | ||
| 60 | { | ||
| 61 |
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56 | ar & make_nvp("linear", m.linear()); |
| 62 | 56 | } | |
| 63 | |||
| 64 | template<class Archive, typename Scalar, int Options> | ||
| 65 | 56 | void serialize( | |
| 66 | Archive & ar, pinocchio::MotionPlanarTpl<Scalar, Options> & m, const unsigned int /*version*/) | ||
| 67 | { | ||
| 68 |
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56 | ar & make_nvp("data", m.data()); |
| 69 | 56 | } | |
| 70 | |||
| 71 | template<class Archive, typename Scalar, int Options> | ||
| 72 | 112 | void serialize( | |
| 73 | Archive & ar, | ||
| 74 | pinocchio::MotionRevoluteUnalignedTpl<Scalar, Options> & m, | ||
| 75 | const unsigned int /*version*/) | ||
| 76 | { | ||
| 77 |
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112 | ar & make_nvp("axis", m.axis()); |
| 78 |
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112 | ar & make_nvp("w", m.angularRate()); |
| 79 | 112 | } | |
| 80 | |||
| 81 | template<class Archive, typename Scalar, int Options> | ||
| 82 | 56 | void serialize( | |
| 83 | Archive & ar, | ||
| 84 | pinocchio::MotionPrismaticUnalignedTpl<Scalar, Options> & m, | ||
| 85 | const unsigned int /*version*/) | ||
| 86 | { | ||
| 87 |
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56 | ar & make_nvp("axis", m.axis()); |
| 88 |
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56 | ar & make_nvp("v", m.linearRate()); |
| 89 | 56 | } | |
| 90 | |||
| 91 | template<class Archive, typename Scalar, int Options> | ||
| 92 | 56 | void serialize( | |
| 93 | Archive & ar, | ||
| 94 | pinocchio::MotionHelicalUnalignedTpl<Scalar, Options> & m, | ||
| 95 | const unsigned int /*version*/) | ||
| 96 | { | ||
| 97 |
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56 | ar & make_nvp("axis", m.axis()); |
| 98 |
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56 | ar & make_nvp("w", m.angularRate()); |
| 99 |
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56 | ar & make_nvp("v", m.linearRate()); |
| 100 | 56 | } | |
| 101 | } // namespace serialization | ||
| 102 | } // namespace boost | ||
| 103 | |||
| 104 | #endif // ifndef __pinocchio_serialization_joints_motion_hpp__ | ||
| 105 |