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// |
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// Copyright (c) 2019-2020 INRIA |
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// |
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#ifndef __pinocchio_serialization_model_hpp__ |
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#define __pinocchio_serialization_model_hpp__ |
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#include <boost/serialization/string.hpp> |
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#include <boost/serialization/variant.hpp> |
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#include <boost/serialization/vector.hpp> |
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#include <boost/serialization/map.hpp> |
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#include "pinocchio/serialization/fwd.hpp" |
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#include "pinocchio/serialization/aligned-vector.hpp" |
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#include "pinocchio/serialization/spatial.hpp" |
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#include "pinocchio/serialization/eigen.hpp" |
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#include "pinocchio/serialization/joints.hpp" |
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#include "pinocchio/serialization/frame.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< |
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class Archive, |
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typename Scalar, |
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int Options, |
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template<typename, int> |
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class JointCollectionTpl> |
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void serialize( |
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Archive & ar, |
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pinocchio::ModelTpl<Scalar, Options, JointCollectionTpl> & model, |
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const unsigned int /*version*/) |
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{ |
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ar & make_nvp("nq", model.nq); |
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ar & make_nvp("nqs", model.nqs); |
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ar & make_nvp("idx_qs", model.idx_qs); |
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ar & make_nvp("nv", model.nv); |
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ar & make_nvp("nvs", model.nvs); |
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ar & make_nvp("idx_vs", model.idx_vs); |
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ar & make_nvp("njoints", model.njoints); |
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ar & make_nvp("nbodies", model.nbodies); |
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ar & make_nvp("nframes", model.nframes); |
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ar & make_nvp("parents", model.parents); |
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ar & make_nvp("children", model.children); |
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ar & make_nvp("names", model.names); |
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ar & make_nvp("supports", model.supports); |
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ar & make_nvp("subtrees", model.subtrees); |
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ar & make_nvp("gravity", model.gravity); |
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ar & make_nvp("name", model.name); |
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ar & make_nvp("referenceConfigurations", model.referenceConfigurations); |
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ar & make_nvp("armature", model.armature); |
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ar & make_nvp("rotorInertia", model.rotorInertia); |
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ar & make_nvp("rotorGearRatio", model.rotorGearRatio); |
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ar & make_nvp("friction", model.friction); |
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ar & make_nvp("damping", model.damping); |
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ar & make_nvp("effortLimit", model.effortLimit); |
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ar & make_nvp("velocityLimit", model.velocityLimit); |
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ar & make_nvp("lowerPositionLimit", model.lowerPositionLimit); |
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ar & make_nvp("upperPositionLimit", model.upperPositionLimit); |
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ar & make_nvp("inertias", model.inertias); |
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ar & make_nvp("jointPlacements", model.jointPlacements); |
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ar & make_nvp("joints", model.joints); |
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ar & make_nvp("frames", model.frames); |
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} |
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} // namespace serialization |
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} // namespace boost |
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#endif // ifndef __pinocchio_serialization_model_hpp__ |
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