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// |
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// Copyright (c) 2019 INRIA |
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// |
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#ifndef __pinocchio_serialization_se3_hpp__ |
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#define __pinocchio_serialization_se3_hpp__ |
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#include "pinocchio/spatial/se3.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 |
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save(Archive & ar, const pinocchio::SE3Tpl<Scalar, Options> & M, const unsigned int /*version*/) |
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{ |
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ar & make_nvp("translation", make_array(M.translation().data(), 3)); |
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ar & make_nvp("rotation", make_array(M.rotation().data(), 9)); |
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} |
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template<class Archive, typename Scalar, int Options> |
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void load(Archive & ar, pinocchio::SE3Tpl<Scalar, Options> & M, const unsigned int /*version*/) |
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{ |
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ar >> make_nvp("translation", make_array(M.translation().data(), 3)); |
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ar >> make_nvp("rotation", make_array(M.rotation().data(), 9)); |
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} |
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template<class Archive, typename Scalar, int Options> |
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void serialize(Archive & ar, pinocchio::SE3Tpl<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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} // namespace serialization |
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} // namespace boost |
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#endif // ifndef __pinocchio_serialization_se3_hpp__ |
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