5 #ifndef __pinocchio_serialization_joints_model_hpp__
6 #define __pinocchio_serialization_joints_model_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(
"m_nq",joint.
m_nq);
20 ar & make_nvp(
"m_nv",joint.m_nv);
21 ar & make_nvp(
"m_idx_q",joint.
m_idx_q);
22 ar & make_nvp(
"m_nqs",joint.
m_nqs);
23 ar & make_nvp(
"m_idx_v",joint.
m_idx_v);
24 ar & make_nvp(
"m_nvs",joint.
m_nvs);
25 ar & make_nvp(
"njoints",joint.
njoints);
27 ar & make_nvp(
"joints",joint.
joints);
28 ar & make_nvp(
"jointPlacements",joint.jointPlacements);
35 namespace serialization
42 template <
class Archive,
typename Derived>
43 void serialize(Archive & ar,
45 const unsigned int version)
47 split_free(ar, joint, version);
51 template<
class Archive,
typename Derived>
52 void save(Archive & ar,
56 const pinocchio::JointIndex i_id = joint.id();
57 const int i_q = joint.idx_q(), i_v = joint.idx_v();
59 ar & make_nvp(
"i_id",i_id);
60 ar & make_nvp(
"i_q",i_q);
61 ar & make_nvp(
"i_v",i_v);
64 template<
class Archive,
typename Derived>
65 void load(Archive & ar,
69 pinocchio::JointIndex i_id;
72 ar & make_nvp(
"i_id",i_id);
73 ar & make_nvp(
"i_q",i_q);
74 ar & make_nvp(
"i_v",i_v);
76 joint.setIndexes(i_id,i_q,i_v);
79 template <
class Archive,
typename Scalar,
int Options,
int axis>
80 void serialize(Archive & ar,
82 const unsigned int version)
89 template <
class Archive,
typename Scalar,
int Options,
int axis>
90 void serialize(Archive & ar,
92 const unsigned int version)
99 template <
class Archive,
typename Scalar,
int Options,
int axis>
100 void serialize(Archive & ar,
102 const unsigned int version)
109 template <
class Archive,
typename Scalar,
int Options>
110 void serialize(Archive & ar,
112 const unsigned int version)
119 template <
class Archive,
typename Scalar,
int Options>
120 void serialize(Archive & ar,
122 const unsigned int version)
129 template <
class Archive,
typename Scalar,
int Options>
130 void serialize(Archive & ar,
132 const unsigned int version)
139 template <
class Archive,
typename Scalar,
int Options>
140 void serialize(Archive & ar,
142 const unsigned int version)
149 template <
class Archive,
typename Scalar,
int Options>
150 void serialize(Archive & ar,
152 const unsigned int version)
159 template <
class Archive,
typename Scalar,
int Options>
160 void serialize(Archive & ar,
162 const unsigned int version)
167 ar & make_nvp(
"axis",joint.
axis);
170 template <
class Archive,
typename Scalar,
int Options>
171 void serialize(Archive & ar,
173 const unsigned int version)
178 ar & make_nvp(
"axis",joint.
axis);
181 template <
class Archive,
typename Scalar,
int Options>
182 void serialize(Archive & ar,
184 const unsigned int version)
189 ar & make_nvp(
"axis",joint.
axis);
192 template <
class Archive,
typename Scalar,
int Options,
template<
typename S,
int O>
class JointCollectionTpl>
193 void serialize(Archive & ar,
195 const unsigned int version)
204 template <
class Archive,
typename Scalar,
int Options,
template<
typename S,
int O>
class JointCollectionTpl>
205 void serialize(Archive & ar,
207 const unsigned int version)
213 typedef typename JointCollectionTpl<Scalar,Options>::JointModelVariant JointModelVariant;
214 ar & make_nvp(
"base_variant",base_object<JointModelVariant>(joint));
217 template <
class Archive,
typename Jo
intModel>
218 void serialize(Archive & ar,
220 const unsigned int version)
226 ar & make_nvp(
"jmodel",joint.jmodel());
227 ar & make_nvp(
"scaling",joint.scaling());
228 ar & make_nvp(
"offset",joint.offset());
234 #endif // ifndef __pinocchio_serialization_joints_model_hpp__