Verified Commit ec15d720 authored by Justin Carpentier's avatar Justin Carpentier
Browse files

serialization/joints: expose Joints Transform

parent 56e51c31
//
// Copyright (c) 2019 INRIA
//
#ifndef __pinocchio_serialization_joints_transform_hpp__
#define __pinocchio_serialization_joints_transform_hpp__
#include "pinocchio/spatial/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::TransformRevoluteTpl<Scalar,Options,axis> & m,
const unsigned int /*version*/)
{
ar & make_nvp("sin",m.sin());
ar & make_nvp("cos",m.cos());
}
template <class Archive, typename Scalar, int Options, int axis>
void serialize(Archive & ar,
pinocchio::TransformPrismaticTpl<Scalar,Options,axis> & m,
const unsigned int /*version*/)
{
ar & make_nvp("displacement",m.displacement());
}
template <class Archive, typename Scalar, int Options>
void serialize(Archive & ar,
pinocchio::TransformTranslationTpl<Scalar,Options> & m,
const unsigned int /*version*/)
{
ar & make_nvp("translation",m.translation());
}
}
}
#endif // ifndef __pinocchio_serialization_joints_transform_hpp__
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