Skip to content
GitLab
Projects
Groups
Snippets
/
Help
Help
Support
Community forum
Keyboard shortcuts
?
Submit feedback
Contribute to GitLab
Sign in / Register
Toggle navigation
Menu
Open sidebar
Stack Of Tasks
pinocchio
Commits
afd0ac49
Verified
Commit
afd0ac49
authored
Dec 17, 2019
by
Justin Carpentier
Browse files
serialization/joints: serialize JointMotion
parent
456fe702
Changes
1
Hide whitespace changes
Inline
Side-by-side
src/serialization/joints-motion.hpp
0 → 100644
View file @
afd0ac49
//
// Copyright (c) 2019 INRIA
//
#ifndef __pinocchio_serialization_joints_motion_hpp__
#define __pinocchio_serialization_joints_motion_hpp__
#include
"pinocchio/serialization/fwd.hpp"
#include
<boost/serialization/split_free.hpp>
#include
<boost/serialization/vector.hpp>
namespace
boost
{
namespace
serialization
{
template
<
class
Archive
,
typename
Scalar
,
int
Options
,
int
axis
>
void
serialize
(
Archive
&
ar
,
pinocchio
::
MotionRevoluteTpl
<
Scalar
,
Options
,
axis
>
&
m
,
const
unsigned
int
/*version*/
)
{
ar
&
make_nvp
(
"w"
,
m
.
angularRate
());
}
template
<
class
Archive
,
typename
Scalar
,
int
Options
,
int
axis
>
void
serialize
(
Archive
&
ar
,
pinocchio
::
MotionPrismaticTpl
<
Scalar
,
Options
,
axis
>
&
m
,
const
unsigned
int
/*version*/
)
{
ar
&
make_nvp
(
"v"
,
m
.
linearRate
());
}
template
<
class
Archive
,
typename
Scalar
,
int
Options
>
void
serialize
(
Archive
&
ar
,
pinocchio
::
MotionSphericalTpl
<
Scalar
,
Options
>
&
m
,
const
unsigned
int
/*version*/
)
{
ar
&
make_nvp
(
"angular"
,
m
.
angular
());
}
template
<
class
Archive
,
typename
Scalar
,
int
Options
>
void
serialize
(
Archive
&
ar
,
pinocchio
::
MotionTranslationTpl
<
Scalar
,
Options
>
&
m
,
const
unsigned
int
/*version*/
)
{
ar
&
make_nvp
(
"linear"
,
m
.
linear
());
}
template
<
class
Archive
,
typename
Scalar
,
int
Options
>
void
serialize
(
Archive
&
ar
,
pinocchio
::
MotionPlanarTpl
<
Scalar
,
Options
>
&
m
,
const
unsigned
int
/*version*/
)
{
ar
&
make_nvp
(
"data"
,
m
.
data
());
}
template
<
class
Archive
,
typename
Scalar
,
int
Options
>
void
serialize
(
Archive
&
ar
,
pinocchio
::
MotionRevoluteUnalignedTpl
<
Scalar
,
Options
>
&
m
,
const
unsigned
int
/*version*/
)
{
ar
&
make_nvp
(
"axis"
,
m
.
axis
());
ar
&
make_nvp
(
"w"
,
m
.
angularRate
());
}
template
<
class
Archive
,
typename
Scalar
,
int
Options
>
void
serialize
(
Archive
&
ar
,
pinocchio
::
MotionPrismaticUnalignedTpl
<
Scalar
,
Options
>
&
m
,
const
unsigned
int
/*version*/
)
{
ar
&
make_nvp
(
"axis"
,
m
.
axis
());
ar
&
make_nvp
(
"v"
,
m
.
linearRate
());
}
}
}
#endif // ifndef __pinocchio_serialization_joints_motion_hpp__
Write
Preview
Supports
Markdown
0%
Try again
or
attach a new file
.
Cancel
You are about to add
0
people
to the discussion. Proceed with caution.
Finish editing this message first!
Cancel
Please
register
or
sign in
to comment