5 #ifndef __pinocchio_serialization_joints_data_hpp__
6 #define __pinocchio_serialization_joints_data_hpp__
10 template<
typename Scalar,
int Options,
template<
typename S,
int O>
class JointCollectionTpl>
13 template<
typename Archive>
14 static void run(Archive & ar,
17 using boost::serialization::make_nvp;
19 ar & make_nvp(
"joints",joint_data.
joints);
20 ar & make_nvp(
"iMlast",joint_data.iMlast);
21 ar & make_nvp(
"pjMi",joint_data.pjMi);
23 ar & make_nvp(
"S",joint_data.S);
24 ar & make_nvp(
"M",joint_data.M);
25 ar & make_nvp(
"v",joint_data.v);
26 ar & make_nvp(
"c",joint_data.c);
28 ar & make_nvp(
"U",joint_data.U);
29 ar & make_nvp(
"Dinv",joint_data.Dinv);
30 ar & make_nvp(
"UDinv",joint_data.UDinv);
31 ar & make_nvp(
"StU",joint_data.StU);
38 namespace serialization
45 template <
class Archive,
typename Derived>
46 void serialize(Archive & ar,
50 ar & make_nvp(
"S",joint_data.S());
51 ar & make_nvp(
"M",joint_data.M());
52 ar & make_nvp(
"v",joint_data.v());
53 ar & make_nvp(
"c",joint_data.c());
55 ar & make_nvp(
"U",joint_data.U());
56 ar & make_nvp(
"Dinv",joint_data.Dinv());
57 ar & make_nvp(
"UDinv",joint_data.UDinv());
61 template <
class Archive,
typename Scalar,
int Options,
int axis>
62 void serialize(Archive & ar,
64 const unsigned int version)
70 template <
class Archive,
typename Scalar,
int Options,
int axis>
71 void serialize(Archive & ar,
73 const unsigned int version)
79 template <
class Archive,
typename Scalar,
int Options,
int axis>
80 void serialize(Archive & ar,
82 const unsigned int version)
88 template <
class Archive,
typename Scalar,
int Options>
89 void serialize(Archive & ar,
91 const unsigned int version)
97 template <
class Archive,
typename Scalar,
int Options>
98 void serialize(Archive & ar,
100 const unsigned int version)
106 template <
class Archive,
typename Scalar,
int Options>
107 void serialize(Archive & ar,
109 const unsigned int version)
115 template <
class Archive,
typename Scalar,
int Options>
116 void serialize(Archive & ar,
118 const unsigned int version)
124 template <
class Archive,
typename Scalar,
int Options>
125 void serialize(Archive & ar,
127 const unsigned int version)
133 template <
class Archive,
typename Scalar,
int Options>
134 void serialize(Archive & ar,
136 const unsigned int version)
142 template <
class Archive,
typename Scalar,
int Options>
143 void serialize(Archive & ar,
145 const unsigned int version)
151 template <
class Archive,
typename Scalar,
int Options>
152 void serialize(Archive & ar,
154 const unsigned int version)
160 template <
class Archive,
typename Scalar,
int Options,
template<
typename S,
int O>
class JointCollectionTpl>
161 void serialize(Archive & ar,
163 const unsigned int version)
171 template <
class Archive,
typename Scalar,
int Options,
template<
typename S,
int O>
class JointCollectionTpl>
172 void serialize(Archive & ar,
176 typedef typename JointCollectionTpl<Scalar,Options>::JointDataVariant JointDataVariant;
177 ar & make_nvp(
"base_variant",base_object<JointDataVariant>(joint));
180 template <
class Archive,
typename Jo
intData>
181 void serialize(Archive & ar,
183 const unsigned int version)
188 ar & make_nvp(
"jdata",joint.jdata());
189 ar & make_nvp(
"scaling",joint.scaling());
190 ar & make_nvp(
"jointConfiguration",joint.jointConfiguration());
191 ar & make_nvp(
"jointVelocity",joint.jointVelocity());
197 #endif // ifndef __pinocchio_serialization_joints_data_hpp__