| Directory: | ./ |
|---|---|
| File: | include/pinocchio/serialization/se3.hpp |
| Date: | 2025-02-12 21:03:38 |
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| Lines: | 11 | 11 | 100.0% |
| Branches: | 4 | 8 | 50.0% |
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| 1 | // | ||
| 2 | // Copyright (c) 2019 INRIA | ||
| 3 | // | ||
| 4 | |||
| 5 | #ifndef __pinocchio_serialization_se3_hpp__ | ||
| 6 | #define __pinocchio_serialization_se3_hpp__ | ||
| 7 | |||
| 8 | #include "pinocchio/spatial/se3.hpp" | ||
| 9 | #include "pinocchio/serialization/fwd.hpp" | ||
| 10 | |||
| 11 | #include <boost/serialization/split_free.hpp> | ||
| 12 | #include <boost/serialization/vector.hpp> | ||
| 13 | |||
| 14 | namespace boost | ||
| 15 | { | ||
| 16 | namespace serialization | ||
| 17 | { | ||
| 18 | |||
| 19 | template<class Archive, typename Scalar, int Options> | ||
| 20 | void | ||
| 21 | 6163 | save(Archive & ar, const pinocchio::SE3Tpl<Scalar, Options> & M, const unsigned int /*version*/) | |
| 22 | { | ||
| 23 |
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6163 | ar & make_nvp("translation", make_array(M.translation().data(), 3)); |
| 24 |
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6163 | ar & make_nvp("rotation", make_array(M.rotation().data(), 9)); |
| 25 | 6163 | } | |
| 26 | |||
| 27 | template<class Archive, typename Scalar, int Options> | ||
| 28 | 5665 | void load(Archive & ar, pinocchio::SE3Tpl<Scalar, Options> & M, const unsigned int /*version*/) | |
| 29 | { | ||
| 30 |
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5665 | ar >> make_nvp("translation", make_array(M.translation().data(), 3)); |
| 31 |
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5665 | ar >> make_nvp("rotation", make_array(M.rotation().data(), 9)); |
| 32 | 5665 | } | |
| 33 | |||
| 34 | template<class Archive, typename Scalar, int Options> | ||
| 35 | 11994 | void serialize(Archive & ar, pinocchio::SE3Tpl<Scalar, Options> & M, const unsigned int version) | |
| 36 | { | ||
| 37 | 11994 | split_free(ar, M, version); | |
| 38 | 11994 | } | |
| 39 | |||
| 40 | } // namespace serialization | ||
| 41 | } // namespace boost | ||
| 42 | |||
| 43 | #endif // ifndef __pinocchio_serialization_se3_hpp__ | ||
| 44 |