serialization/joints: serialize JointMotion

src/serialization/joints-motion.hpp

+//
+// 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__