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// |
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// Copyright (c) 2019 INRIA |
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// |
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#ifndef __pinocchio_serialization_joints_transform_hpp__ |
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#define __pinocchio_serialization_joints_transform_hpp__ |
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#include "pinocchio/spatial/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::TransformRevoluteTpl<Scalar, Options, axis> & m, |
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const unsigned int /*version*/) |
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{ |
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ar & make_nvp("sin", m.sin()); |
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ar & make_nvp("cos", m.cos()); |
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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::TransformPrismaticTpl<Scalar, Options, axis> & m, |
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const unsigned int /*version*/) |
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{ |
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ar & make_nvp("displacement", m.displacement()); |
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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::TransformHelicalTpl<Scalar, Options, axis> & m, |
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const unsigned int /*version*/) |
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{ |
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ar & make_nvp("sin", m.sin()); |
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ar & make_nvp("cos", m.cos()); |
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ar & make_nvp("displacement", m.displacement()); |
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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::TransformTranslationTpl<Scalar, Options> & m, |
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const unsigned int /*version*/) |
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{ |
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ar & make_nvp("translation", m.translation()); |
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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_transform_hpp__ |
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