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pinocchio
Commits
fbb21d46
Verified
Commit
fbb21d46
authored
Dec 18, 2019
by
Justin Carpentier
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serialization: serialize JointData
parent
fd60b37a
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2 changed files
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src/serialization/joints-data.hpp
src/serialization/joints-data.hpp
+195
-0
src/serialization/joints.hpp
src/serialization/joints.hpp
+1
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src/serialization/joints-data.hpp
0 → 100644
View file @
fbb21d46
//
// Copyright (c) 2019 INRIA
//
#ifndef __pinocchio_serialization_joints_data_hpp__
#define __pinocchio_serialization_joints_data_hpp__
namespace
pinocchio
{
template
<
typename
Scalar
,
int
Options
,
template
<
typename
S
,
int
O
>
class
JointCollectionTpl
>
struct
Serialize
<
JointDataCompositeTpl
<
Scalar
,
Options
,
JointCollectionTpl
>
>
{
template
<
typename
Archive
>
static
void
run
(
Archive
&
ar
,
JointDataCompositeTpl
<
Scalar
,
Options
,
JointCollectionTpl
>
&
joint_data
)
{
using
boost
::
serialization
::
make_nvp
;
ar
&
make_nvp
(
"joints"
,
joint_data
.
joints
);
ar
&
make_nvp
(
"iMlast"
,
joint_data
.
iMlast
);
ar
&
make_nvp
(
"pjMi"
,
joint_data
.
pjMi
);
ar
&
make_nvp
(
"S"
,
joint_data
.
S
);
ar
&
make_nvp
(
"M"
,
joint_data
.
M
);
ar
&
make_nvp
(
"v"
,
joint_data
.
v
);
ar
&
make_nvp
(
"c"
,
joint_data
.
c
);
ar
&
make_nvp
(
"U"
,
joint_data
.
U
);
ar
&
make_nvp
(
"Dinv"
,
joint_data
.
Dinv
);
ar
&
make_nvp
(
"UDinv"
,
joint_data
.
UDinv
);
ar
&
make_nvp
(
"StU"
,
joint_data
.
StU
);
}
};
}
namespace
boost
{
namespace
serialization
{
// For some older version of gcc, we have to rely on an additional namespace
// to avoid ambiguous call to boost::serialization::serialize
namespace
fix
{
template
<
class
Archive
,
typename
Derived
>
void
serialize
(
Archive
&
ar
,
pinocchio
::
JointDataBase
<
Derived
>
&
joint_data
,
const
unsigned
int
/*version*/
)
{
ar
&
make_nvp
(
"S"
,
joint_data
.
S
());
ar
&
make_nvp
(
"M"
,
joint_data
.
M
());
ar
&
make_nvp
(
"v"
,
joint_data
.
v
());
ar
&
make_nvp
(
"c"
,
joint_data
.
c
());
ar
&
make_nvp
(
"U"
,
joint_data
.
U
());
ar
&
make_nvp
(
"Dinv"
,
joint_data
.
Dinv
());
ar
&
make_nvp
(
"UDinv"
,
joint_data
.
UDinv
());
}
}
template
<
class
Archive
,
typename
Scalar
,
int
Options
,
int
axis
>
void
serialize
(
Archive
&
ar
,
pinocchio
::
JointDataRevoluteTpl
<
Scalar
,
Options
,
axis
>
&
joint
,
const
unsigned
int
version
)
{
typedef
pinocchio
::
JointDataRevoluteTpl
<
Scalar
,
Options
,
axis
>
JointType
;
fix
::
serialize
(
ar
,
static_cast
<
pinocchio
::
JointDataBase
<
JointType
>&>
(
joint
),
version
);
}
template
<
class
Archive
,
typename
Scalar
,
int
Options
,
int
axis
>
void
serialize
(
Archive
&
ar
,
pinocchio
::
JointDataRevoluteUnboundedTpl
<
Scalar
,
Options
,
axis
>
&
joint
,
const
unsigned
int
version
)
{
typedef
pinocchio
::
JointDataRevoluteUnboundedTpl
<
Scalar
,
Options
,
axis
>
JointType
;
fix
::
serialize
(
ar
,
static_cast
<
pinocchio
::
JointDataBase
<
JointType
>&>
(
joint
),
version
);
}
template
<
class
Archive
,
typename
Scalar
,
int
Options
,
int
axis
>
void
serialize
(
Archive
&
ar
,
pinocchio
::
JointDataPrismaticTpl
<
Scalar
,
Options
,
axis
>
&
joint
,
const
unsigned
int
version
)
{
typedef
pinocchio
::
JointDataPrismaticTpl
<
Scalar
,
Options
,
axis
>
JointType
;
fix
::
serialize
(
ar
,
static_cast
<
pinocchio
::
JointDataBase
<
JointType
>&>
(
joint
),
version
);
}
template
<
class
Archive
,
typename
Scalar
,
int
Options
>
void
serialize
(
Archive
&
ar
,
pinocchio
::
JointDataFreeFlyerTpl
<
Scalar
,
Options
>
&
joint
,
const
unsigned
int
version
)
{
typedef
pinocchio
::
JointDataFreeFlyerTpl
<
Scalar
,
Options
>
JointType
;
fix
::
serialize
(
ar
,
static_cast
<
pinocchio
::
JointDataBase
<
JointType
>&>
(
joint
),
version
);
}
template
<
class
Archive
,
typename
Scalar
,
int
Options
>
void
serialize
(
Archive
&
ar
,
pinocchio
::
JointDataPlanarTpl
<
Scalar
,
Options
>
&
joint
,
const
unsigned
int
version
)
{
typedef
pinocchio
::
JointDataPlanarTpl
<
Scalar
,
Options
>
JointType
;
fix
::
serialize
(
ar
,
static_cast
<
pinocchio
::
JointDataBase
<
JointType
>&>
(
joint
),
version
);
}
template
<
class
Archive
,
typename
Scalar
,
int
Options
>
void
serialize
(
Archive
&
ar
,
pinocchio
::
JointDataSphericalTpl
<
Scalar
,
Options
>
&
joint
,
const
unsigned
int
version
)
{
typedef
pinocchio
::
JointDataSphericalTpl
<
Scalar
,
Options
>
JointType
;
fix
::
serialize
(
ar
,
static_cast
<
pinocchio
::
JointDataBase
<
JointType
>&>
(
joint
),
version
);
}
template
<
class
Archive
,
typename
Scalar
,
int
Options
>
void
serialize
(
Archive
&
ar
,
pinocchio
::
JointDataSphericalZYXTpl
<
Scalar
,
Options
>
&
joint
,
const
unsigned
int
version
)
{
typedef
pinocchio
::
JointDataSphericalZYXTpl
<
Scalar
,
Options
>
JointType
;
fix
::
serialize
(
ar
,
static_cast
<
pinocchio
::
JointDataBase
<
JointType
>&>
(
joint
),
version
);
}
template
<
class
Archive
,
typename
Scalar
,
int
Options
>
void
serialize
(
Archive
&
ar
,
pinocchio
::
JointDataTranslationTpl
<
Scalar
,
Options
>
&
joint
,
const
unsigned
int
version
)
{
typedef
pinocchio
::
JointDataTranslationTpl
<
Scalar
,
Options
>
JointType
;
fix
::
serialize
(
ar
,
static_cast
<
pinocchio
::
JointDataBase
<
JointType
>&>
(
joint
),
version
);
}
template
<
class
Archive
,
typename
Scalar
,
int
Options
>
void
serialize
(
Archive
&
ar
,
pinocchio
::
JointDataRevoluteUnalignedTpl
<
Scalar
,
Options
>
&
joint
,
const
unsigned
int
version
)
{
typedef
pinocchio
::
JointDataRevoluteUnalignedTpl
<
Scalar
,
Options
>
JointType
;
fix
::
serialize
(
ar
,
static_cast
<
pinocchio
::
JointDataBase
<
JointType
>&>
(
joint
),
version
);
}
template
<
class
Archive
,
typename
Scalar
,
int
Options
>
void
serialize
(
Archive
&
ar
,
pinocchio
::
JointDataRevoluteUnboundedUnalignedTpl
<
Scalar
,
Options
>
&
joint
,
const
unsigned
int
version
)
{
typedef
pinocchio
::
JointDataRevoluteUnboundedUnalignedTpl
<
Scalar
,
Options
>
JointType
;
fix
::
serialize
(
ar
,
static_cast
<
pinocchio
::
JointDataBase
<
JointType
>&>
(
joint
),
version
);
}
template
<
class
Archive
,
typename
Scalar
,
int
Options
>
void
serialize
(
Archive
&
ar
,
pinocchio
::
JointDataPrismaticUnalignedTpl
<
Scalar
,
Options
>
&
joint
,
const
unsigned
int
version
)
{
typedef
pinocchio
::
JointDataPrismaticUnalignedTpl
<
Scalar
,
Options
>
JointType
;
fix
::
serialize
(
ar
,
static_cast
<
pinocchio
::
JointDataBase
<
JointType
>&>
(
joint
),
version
);
}
template
<
class
Archive
,
typename
Scalar
,
int
Options
,
template
<
typename
S
,
int
O
>
class
JointCollectionTpl
>
void
serialize
(
Archive
&
ar
,
pinocchio
::
JointDataCompositeTpl
<
Scalar
,
Options
,
JointCollectionTpl
>
&
joint
,
const
unsigned
int
version
)
{
typedef
pinocchio
::
JointDataCompositeTpl
<
Scalar
,
Options
,
JointCollectionTpl
>
JointType
;
fix
::
serialize
(
ar
,
static_cast
<
pinocchio
::
JointDataBase
<
JointType
>&>
(
joint
),
version
);
::
pinocchio
::
Serialize
<
JointType
>::
run
(
ar
,
joint
);
}
template
<
class
Archive
,
typename
Scalar
,
int
Options
,
template
<
typename
S
,
int
O
>
class
JointCollectionTpl
>
void
serialize
(
Archive
&
ar
,
pinocchio
::
JointDataTpl
<
Scalar
,
Options
,
JointCollectionTpl
>
&
joint
,
const
unsigned
int
/*version*/
)
{
typedef
typename
JointCollectionTpl
<
Scalar
,
Options
>::
JointDataVariant
JointDataVariant
;
ar
&
make_nvp
(
"base_variant"
,
base_object
<
JointDataVariant
>
(
joint
));
}
template
<
class
Archive
,
typename
JointData
>
void
serialize
(
Archive
&
ar
,
pinocchio
::
JointDataMimic
<
JointData
>
&
joint
,
const
unsigned
int
version
)
{
typedef
pinocchio
::
JointDataMimic
<
JointData
>
JointType
;
fix
::
serialize
(
ar
,
static_cast
<
pinocchio
::
JointDataBase
<
JointType
>&>
(
joint
),
version
);
ar
&
make_nvp
(
"jdata"
,
joint
.
jdata
());
ar
&
make_nvp
(
"scaling"
,
joint
.
scaling
());
}
}
}
#endif // ifndef __pinocchio_serialization_joints_data_hpp__
src/serialization/joints.hpp
View file @
fbb21d46
...
...
@@ -22,5 +22,6 @@
#include "pinocchio/serialization/joints-motion.hpp"
#include "pinocchio/serialization/joints-constraint.hpp"
#include "pinocchio/serialization/joints-model.hpp"
#include "pinocchio/serialization/joints-data.hpp"
#endif // ifndef __pinocchio_serialization_joints_hpp__
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