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// |
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// Copyright (c) 2019 INRIA |
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// |
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#ifndef __pinocchio_serialization_motion_hpp__ |
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#define __pinocchio_serialization_motion_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> |
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void save( |
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Archive & ar, const pinocchio::MotionTpl<Scalar, Options> & m, const unsigned int /*version*/) |
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{ |
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ar & make_nvp("linear", make_array(m.linear().data(), 3)); |
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ar & make_nvp("angular", make_array(m.angular().data(), 3)); |
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} |
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template<class Archive, typename Scalar, int Options> |
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void |
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load(Archive & ar, pinocchio::MotionTpl<Scalar, Options> & m, const unsigned int /*version*/) |
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{ |
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ar >> make_nvp("linear", make_array(m.linear().data(), 3)); |
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ar >> make_nvp("angular", make_array(m.angular().data(), 3)); |
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} |
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template<class Archive, typename Scalar, int Options> |
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void |
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serialize(Archive & ar, pinocchio::MotionTpl<Scalar, Options> & m, const unsigned int version) |
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{ |
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split_free(ar, m, version); |
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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::MotionZeroTpl<Scalar, Options> & /*m*/, |
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const unsigned int /*version*/) |
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{ |
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// Nothing to do |
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} |
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} // namespace serialization |
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} // namespace boost |
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#endif // ifndef __pinocchio_serialization_motion_hpp__ |
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