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00001 /* Generated from orogen/lib/orogen/templates/typekit/Types.hpp */ 00002 00003 #ifndef KDL_TYPES_HPP 00004 #define KDL_TYPES_HPP 00005 00006 #include <kdl/frames.hpp> 00007 #include <kdl/chain.hpp> 00008 #include <kdl/jacobian.hpp> 00009 #include <kdl/segment.hpp> 00010 #include <kdl/jntarray.hpp> 00011 00012 00013 00014 // This is a hack. We include it unconditionally as it may be required by some 00015 // typekits *and* it is a standard header. Ideally, we would actually check if 00016 // some of the types need std::vector. 00017 #include <vector> 00018 #include <boost/cstdint.hpp> 00019 #include <boost/serialization/serialization.hpp> 00020 #include <boost/serialization/array.hpp> 00021 00022 00023 #ifdef CORELIB_DATASOURCE_HPP 00024 extern template class RTT::internal::DataSource< ::KDL::Frame >; 00025 extern template class RTT::internal::AssignableDataSource< ::KDL::Frame >; 00026 #endif 00027 #ifdef ORO_CORELIB_DATASOURCES_HPP 00028 extern template class RTT::internal::ValueDataSource< ::KDL::Frame >; 00029 extern template class RTT::internal::ConstantDataSource< ::KDL::Frame >; 00030 extern template class RTT::internal::ReferenceDataSource< ::KDL::Frame >; 00031 #endif 00032 #ifdef ORO_INPUT_PORT_HPP 00033 extern template class RTT::OutputPort< ::KDL::Frame >; 00034 #endif 00035 #ifdef ORO_OUTPUT_PORT_HPP 00036 extern template class RTT::InputPort< ::KDL::Frame >; 00037 #endif 00038 #ifdef ORO_PROPERTY_HPP 00039 extern template class RTT::Property< ::KDL::Frame >; 00040 #endif 00041 #ifdef ORO_CORELIB_ATTRIBUTE_HPP 00042 extern template class RTT::Attribute< ::KDL::Frame >; 00043 #endif 00044 00045 00046 namespace boost 00047 { 00048 namespace serialization 00049 { 00050 template<typename Archive> 00051 void serialize(Archive& a, ::KDL::Frame& b, unsigned int version) 00052 { 00053 using boost::serialization::make_nvp; 00054 a & make_nvp("p", b.p); 00055 a & make_nvp("M", b.M); 00056 } 00057 } 00058 } 00059 00060 00061 #ifdef CORELIB_DATASOURCE_HPP 00062 extern template class RTT::internal::DataSource< ::KDL::Rotation >; 00063 extern template class RTT::internal::AssignableDataSource< ::KDL::Rotation >; 00064 #endif 00065 #ifdef ORO_CORELIB_DATASOURCES_HPP 00066 extern template class RTT::internal::ValueDataSource< ::KDL::Rotation >; 00067 extern template class RTT::internal::ConstantDataSource< ::KDL::Rotation >; 00068 extern template class RTT::internal::ReferenceDataSource< ::KDL::Rotation >; 00069 #endif 00070 #ifdef ORO_INPUT_PORT_HPP 00071 extern template class RTT::OutputPort< ::KDL::Rotation >; 00072 #endif 00073 #ifdef ORO_OUTPUT_PORT_HPP 00074 extern template class RTT::InputPort< ::KDL::Rotation >; 00075 #endif 00076 #ifdef ORO_PROPERTY_HPP 00077 extern template class RTT::Property< ::KDL::Rotation >; 00078 #endif 00079 #ifdef ORO_CORELIB_ATTRIBUTE_HPP 00080 extern template class RTT::Attribute< ::KDL::Rotation >; 00081 #endif 00082 00083 00084 namespace boost 00085 { 00086 namespace serialization 00087 { 00088 template<typename Archive> 00089 void serialize(Archive& a, ::KDL::Rotation& b, unsigned int version) 00090 { 00091 using boost::serialization::make_nvp; 00092 a & make_nvp("X_x", b.data[0]); 00093 a & make_nvp("X_y", b.data[3]); 00094 a & make_nvp("X_z", b.data[6]); 00095 a & make_nvp("Y_x", b.data[1]); 00096 a & make_nvp("Y_y", b.data[4]); 00097 a & make_nvp("Y_z", b.data[7]); 00098 a & make_nvp("Z_x", b.data[2]); 00099 a & make_nvp("Z_y", b.data[5]); 00100 a & make_nvp("Z_z", b.data[8]); 00101 } 00102 } 00103 } 00104 00105 #ifdef CORELIB_DATASOURCE_HPP 00106 extern template class RTT::internal::DataSource< ::KDL::Twist >; 00107 extern template class RTT::internal::AssignableDataSource< ::KDL::Twist >; 00108 #endif 00109 #ifdef ORO_CORELIB_DATASOURCES_HPP 00110 extern template class RTT::internal::ValueDataSource< ::KDL::Twist >; 00111 extern template class RTT::internal::ConstantDataSource< ::KDL::Twist >; 00112 extern template class RTT::internal::ReferenceDataSource< ::KDL::Twist >; 00113 #endif 00114 #ifdef ORO_INPUT_PORT_HPP 00115 extern template class RTT::OutputPort< ::KDL::Twist >; 00116 #endif 00117 #ifdef ORO_OUTPUT_PORT_HPP 00118 extern template class RTT::InputPort< ::KDL::Twist >; 00119 #endif 00120 #ifdef ORO_PROPERTY_HPP 00121 extern template class RTT::Property< ::KDL::Twist >; 00122 #endif 00123 #ifdef ORO_CORELIB_ATTRIBUTE_HPP 00124 extern template class RTT::Attribute< ::KDL::Twist >; 00125 #endif 00126 00127 00128 namespace boost 00129 { 00130 namespace serialization 00131 { 00132 template<typename Archive> 00133 void serialize(Archive& a, ::KDL::Twist& b, unsigned int version) 00134 { 00135 using boost::serialization::make_nvp; 00136 a & make_nvp("vel", b.vel); 00137 a & make_nvp("rot", b.rot); 00138 } 00139 } 00140 } 00141 00142 00143 00144 #ifdef CORELIB_DATASOURCE_HPP 00145 extern template class RTT::internal::DataSource< ::KDL::Vector >; 00146 extern template class RTT::internal::AssignableDataSource< ::KDL::Vector >; 00147 #endif 00148 #ifdef ORO_CORELIB_DATASOURCES_HPP 00149 extern template class RTT::internal::ValueDataSource< ::KDL::Vector >; 00150 extern template class RTT::internal::ConstantDataSource< ::KDL::Vector >; 00151 extern template class RTT::internal::ReferenceDataSource< ::KDL::Vector >; 00152 #endif 00153 #ifdef ORO_INPUT_PORT_HPP 00154 extern template class RTT::OutputPort< ::KDL::Vector >; 00155 #endif 00156 #ifdef ORO_OUTPUT_PORT_HPP 00157 extern template class RTT::InputPort< ::KDL::Vector >; 00158 #endif 00159 #ifdef ORO_PROPERTY_HPP 00160 extern template class RTT::Property< ::KDL::Vector >; 00161 #endif 00162 #ifdef ORO_CORELIB_ATTRIBUTE_HPP 00163 extern template class RTT::Attribute< ::KDL::Vector >; 00164 #endif 00165 00166 00167 namespace boost 00168 { 00169 namespace serialization 00170 { 00171 template<typename Archive> 00172 void serialize(Archive& a, ::KDL::Vector& b, unsigned int version) 00173 { 00174 using boost::serialization::make_nvp; 00175 a & make_nvp("X", b.data[0]); 00176 a & make_nvp("Y", b.data[1]); 00177 a & make_nvp("Z", b.data[2]); 00178 } 00179 } 00180 } 00181 00182 00183 #ifdef CORELIB_DATASOURCE_HPP 00184 extern template class RTT::internal::DataSource< ::KDL::Wrench >; 00185 extern template class RTT::internal::AssignableDataSource< ::KDL::Wrench >; 00186 #endif 00187 #ifdef ORO_CORELIB_DATASOURCES_HPP 00188 extern template class RTT::internal::ValueDataSource< ::KDL::Wrench >; 00189 extern template class RTT::internal::ConstantDataSource< ::KDL::Wrench >; 00190 extern template class RTT::internal::ReferenceDataSource< ::KDL::Wrench >; 00191 #endif 00192 #ifdef ORO_INPUT_PORT_HPP 00193 extern template class RTT::OutputPort< ::KDL::Wrench >; 00194 #endif 00195 #ifdef ORO_OUTPUT_PORT_HPP 00196 extern template class RTT::InputPort< ::KDL::Wrench >; 00197 #endif 00198 #ifdef ORO_PROPERTY_HPP 00199 extern template class RTT::Property< ::KDL::Wrench >; 00200 #endif 00201 #ifdef ORO_CORELIB_ATTRIBUTE_HPP 00202 extern template class RTT::Attribute< ::KDL::Wrench >; 00203 #endif 00204 00205 00206 namespace boost 00207 { 00208 namespace serialization 00209 { 00210 template<typename Archive> 00211 void serialize(Archive& a, ::KDL::Wrench& b, unsigned int version) 00212 { 00213 using boost::serialization::make_nvp; 00214 a & make_nvp("force", b.force); 00215 a & make_nvp("torque", b.torque); 00216 } 00217 } 00218 } 00219 00220 #ifdef CORELIB_DATASOURCE_HPP 00221 extern template class RTT::internal::DataSource< ::KDL::Chain >; 00222 extern template class RTT::internal::AssignableDataSource< ::KDL::Chain >; 00223 #endif 00224 #ifdef ORO_CORELIB_DATASOURCES_HPP 00225 extern template class RTT::internal::ValueDataSource< ::KDL::Chain >; 00226 extern template class RTT::internal::ConstantDataSource< ::KDL::Chain >; 00227 extern template class RTT::internal::ReferenceDataSource< ::KDL::Chain >; 00228 #endif 00229 #ifdef ORO_INPUT_PORT_HPP 00230 extern template class RTT::OutputPort< ::KDL::Chain >; 00231 #endif 00232 #ifdef ORO_OUTPUT_PORT_HPP 00233 extern template class RTT::InputPort< ::KDL::Chain >; 00234 #endif 00235 #ifdef ORO_PROPERTY_HPP 00236 extern template class RTT::Property< ::KDL::Chain >; 00237 #endif 00238 #ifdef ORO_CORELIB_ATTRIBUTE_HPP 00239 extern template class RTT::Attribute< ::KDL::Chain >; 00240 #endif 00241 00242 00243 namespace boost 00244 { 00245 namespace serialization 00246 { 00247 template<typename Archive> 00248 void serialize(Archive& a, ::KDL::Chain& b, unsigned int version) 00249 {} 00250 } 00251 } 00252 00253 #ifdef CORELIB_DATASOURCE_HPP 00254 extern template class RTT::internal::DataSource< ::KDL::Joint >; 00255 extern template class RTT::internal::AssignableDataSource< ::KDL::Joint >; 00256 #endif 00257 #ifdef ORO_CORELIB_DATASOURCES_HPP 00258 extern template class RTT::internal::ValueDataSource< ::KDL::Joint >; 00259 extern template class RTT::internal::ConstantDataSource< ::KDL::Joint >; 00260 extern template class RTT::internal::ReferenceDataSource< ::KDL::Joint >; 00261 #endif 00262 #ifdef ORO_INPUT_PORT_HPP 00263 extern template class RTT::OutputPort< ::KDL::Joint >; 00264 #endif 00265 #ifdef ORO_OUTPUT_PORT_HPP 00266 extern template class RTT::InputPort< ::KDL::Joint >; 00267 #endif 00268 #ifdef ORO_PROPERTY_HPP 00269 extern template class RTT::Property< ::KDL::Joint >; 00270 #endif 00271 #ifdef ORO_CORELIB_ATTRIBUTE_HPP 00272 extern template class RTT::Attribute< ::KDL::Joint >; 00273 #endif 00274 00275 00276 namespace boost 00277 { 00278 namespace serialization 00279 { 00280 template<typename Archive> 00281 void serialize(Archive& a, ::KDL::Joint& b, unsigned int version) 00282 {} 00283 } 00284 } 00285 00286 #ifdef CORELIB_DATASOURCE_HPP 00287 extern template class RTT::internal::DataSource< ::KDL::Segment >; 00288 extern template class RTT::internal::AssignableDataSource< ::KDL::Segment >; 00289 #endif 00290 #ifdef ORO_CORELIB_DATASOURCES_HPP 00291 extern template class RTT::internal::ValueDataSource< ::KDL::Segment >; 00292 extern template class RTT::internal::ConstantDataSource< ::KDL::Segment >; 00293 extern template class RTT::internal::ReferenceDataSource< ::KDL::Segment >; 00294 #endif 00295 #ifdef ORO_INPUT_PORT_HPP 00296 extern template class RTT::OutputPort< ::KDL::Segment >; 00297 #endif 00298 #ifdef ORO_OUTPUT_PORT_HPP 00299 extern template class RTT::InputPort< ::KDL::Segment >; 00300 #endif 00301 #ifdef ORO_PROPERTY_HPP 00302 extern template class RTT::Property< ::KDL::Segment >; 00303 #endif 00304 #ifdef ORO_CORELIB_ATTRIBUTE_HPP 00305 extern template class RTT::Attribute< ::KDL::Segment >; 00306 #endif 00307 00308 00309 namespace boost 00310 { 00311 namespace serialization 00312 { 00313 template<typename Archive> 00314 void serialize(Archive& a, ::KDL::Segment& b, unsigned int version) 00315 {} 00316 } 00317 } 00318 #ifdef CORELIB_DATASOURCE_HPP 00319 extern template class RTT::internal::DataSource< ::KDL::Jacobian >; 00320 extern template class RTT::internal::AssignableDataSource< ::KDL::Jacobian >; 00321 #endif 00322 #ifdef ORO_CORELIB_DATASOURCES_HPP 00323 extern template class RTT::internal::ValueDataSource< ::KDL::Jacobian >; 00324 extern template class RTT::internal::ConstantDataSource< ::KDL::Jacobian >; 00325 extern template class RTT::internal::ReferenceDataSource< ::KDL::Jacobian >; 00326 #endif 00327 #ifdef ORO_INPUT_PORT_HPP 00328 extern template class RTT::OutputPort< ::KDL::Jacobian >; 00329 #endif 00330 #ifdef ORO_OUTPUT_PORT_HPP 00331 extern template class RTT::InputPort< ::KDL::Jacobian >; 00332 #endif 00333 #ifdef ORO_PROPERTY_HPP 00334 extern template class RTT::Property< ::KDL::Jacobian >; 00335 #endif 00336 #ifdef ORO_CORELIB_ATTRIBUTE_HPP 00337 extern template class RTT::Attribute< ::KDL::Jacobian >; 00338 #endif 00339 00340 00341 namespace boost 00342 { 00343 namespace serialization 00344 { 00345 template<typename Archive> 00346 void serialize(Archive& a, ::KDL::Jacobian& b, unsigned int version) 00347 {} 00348 } 00349 } 00350 00351 #ifdef CORELIB_DATASOURCE_HPP 00352 extern template class RTT::internal::DataSource< ::KDL::JntArray >; 00353 extern template class RTT::internal::AssignableDataSource< ::KDL::JntArray >; 00354 #endif 00355 #ifdef ORO_CORELIB_DATASOURCES_HPP 00356 extern template class RTT::internal::ValueDataSource< ::KDL::JntArray >; 00357 extern template class RTT::internal::ConstantDataSource< ::KDL::JntArray >; 00358 extern template class RTT::internal::ReferenceDataSource< ::KDL::JntArray >; 00359 #endif 00360 #ifdef ORO_INPUT_PORT_HPP 00361 extern template class RTT::OutputPort< ::KDL::JntArray >; 00362 #endif 00363 #ifdef ORO_OUTPUT_PORT_HPP 00364 extern template class RTT::InputPort< ::KDL::JntArray >; 00365 #endif 00366 #ifdef ORO_PROPERTY_HPP 00367 extern template class RTT::Property< ::KDL::JntArray >; 00368 #endif 00369 #ifdef ORO_CORELIB_ATTRIBUTE_HPP 00370 extern template class RTT::Attribute< ::KDL::JntArray >; 00371 #endif 00372 00373 00374 namespace boost 00375 { 00376 namespace serialization 00377 { 00378 template<typename Archive> 00379 void serialize(Archive& a, ::KDL::JntArray& b, unsigned int version) 00380 { 00381 using boost::serialization::make_nvp; 00382 for(int i=0; i<b.data.size(); i++) 00383 { 00384 a & make_nvp("data", b.data[i]); 00385 } 00386 } 00387 } 00388 } 00389 00390 #ifdef CORELIB_DATASOURCE_HPP 00391 extern template class RTT::internal::DataSource< std::vector<KDL::Rotation> >; 00392 extern template class RTT::internal::AssignableDataSource< std::vector<KDL::Rotation> >; 00393 #endif 00394 #ifdef ORO_CORELIB_DATASOURCES_HPP 00395 extern template class RTT::internal::ValueDataSource< std::vector<KDL::Rotation> >; 00396 extern template class RTT::internal::ConstantDataSource< std::vector<KDL::Rotation> >; 00397 extern template class RTT::internal::ReferenceDataSource< std::vector<KDL::Rotation> >; 00398 #endif 00399 #ifdef ORO_INPUT_PORT_HPP 00400 extern template class RTT::OutputPort< std::vector<KDL::Rotation> >; 00401 #endif 00402 #ifdef ORO_OUTPUT_PORT_HPP 00403 extern template class RTT::InputPort< std::vector<KDL::Rotation> >; 00404 #endif 00405 #ifdef ORO_PROPERTY_HPP 00406 extern template class RTT::Property< std::vector<KDL::Rotation> >; 00407 #endif 00408 #ifdef ORO_CORELIB_ATTRIBUTE_HPP 00409 extern template class RTT::Attribute< std::vector<KDL::Rotation> >; 00410 #endif 00411 00412 00413 namespace boost 00414 { 00415 namespace serialization 00416 { 00417 template<typename Archive> 00418 void serialize(Archive& a, std::vector<KDL::Rotation>& b, unsigned int version) 00419 { 00420 using boost::serialization::make_nvp; 00421 for(unsigned int i=0; i < b.size(); i++){ 00422 boost::serialization::serialize(a, b[i], version); 00423 } 00424 } 00425 } 00426 } 00427 #ifdef CORELIB_DATASOURCE_HPP 00428 extern template class RTT::internal::DataSource< std::vector<KDL::Vector> >; 00429 extern template class RTT::internal::AssignableDataSource< std::vector<KDL::Vector> >; 00430 #endif 00431 #ifdef ORO_CORELIB_DATASOURCES_HPP 00432 extern template class RTT::internal::ValueDataSource< std::vector<KDL::Vector> >; 00433 extern template class RTT::internal::ConstantDataSource< std::vector<KDL::Vector> >; 00434 extern template class RTT::internal::ReferenceDataSource< std::vector<KDL::Vector> >; 00435 #endif 00436 #ifdef ORO_INPUT_PORT_HPP 00437 extern template class RTT::OutputPort< std::vector<KDL::Vector> >; 00438 #endif 00439 #ifdef ORO_OUTPUT_PORT_HPP 00440 extern template class RTT::InputPort< std::vector<KDL::Vector> >; 00441 #endif 00442 #ifdef ORO_PROPERTY_HPP 00443 extern template class RTT::Property< std::vector<KDL::Vector> >; 00444 #endif 00445 #ifdef ORO_CORELIB_ATTRIBUTE_HPP 00446 extern template class RTT::Attribute< std::vector<KDL::Vector> >; 00447 #endif 00448 00449 00450 namespace boost 00451 { 00452 namespace serialization 00453 { 00454 template<typename Archive> 00455 void serialize(Archive& a, std::vector<KDL::Vector>& b, unsigned int version) 00456 { 00457 using boost::serialization::make_nvp; 00458 for(unsigned int i=0; i < b.size(); i++){ 00459 boost::serialization::serialize(a, b[i], version); 00460 00461 } 00462 } 00463 } 00464 } 00465 #ifdef CORELIB_DATASOURCE_HPP 00466 extern template class RTT::internal::DataSource< std::vector<KDL::Frame> >; 00467 extern template class RTT::internal::AssignableDataSource< std::vector<KDL::Frame> >; 00468 #endif 00469 #ifdef ORO_CORELIB_DATASOURCES_HPP 00470 extern template class RTT::internal::ValueDataSource< std::vector<KDL::Frame> >; 00471 extern template class RTT::internal::ConstantDataSource< std::vector<KDL::Frame> >; 00472 extern template class RTT::internal::ReferenceDataSource< std::vector<KDL::Frame> >; 00473 #endif 00474 #ifdef ORO_INPUT_PORT_HPP 00475 extern template class RTT::OutputPort< std::vector<KDL::Frame> >; 00476 #endif 00477 #ifdef ORO_OUTPUT_PORT_HPP 00478 extern template class RTT::InputPort< std::vector<KDL::Frame> >; 00479 #endif 00480 #ifdef ORO_PROPERTY_HPP 00481 extern template class RTT::Property< std::vector<KDL::Frame> >; 00482 #endif 00483 #ifdef ORO_CORELIB_ATTRIBUTE_HPP 00484 extern template class RTT::Attribute< std::vector<KDL::Frame> >; 00485 #endif 00486 00487 00488 namespace boost 00489 { 00490 namespace serialization 00491 { 00492 template<typename Archive> 00493 void serialize(Archive& a, std::vector<KDL::Frame>& b, unsigned int version) 00494 { 00495 using boost::serialization::make_nvp; 00496 for(unsigned int i=0; i < b.size(); i++){ 00497 boost::serialization::serialize(a, b[i], version); 00498 00499 } 00500 } 00501 } 00502 } 00503 #ifdef CORELIB_DATASOURCE_HPP 00504 extern template class RTT::internal::DataSource< std::vector<KDL::Twist> >; 00505 extern template class RTT::internal::AssignableDataSource< std::vector<KDL::Twist> >; 00506 #endif 00507 #ifdef ORO_CORELIB_DATASOURCES_HPP 00508 extern template class RTT::internal::ValueDataSource< std::vector<KDL::Twist> >; 00509 extern template class RTT::internal::ConstantDataSource< std::vector<KDL::Twist> >; 00510 extern template class RTT::internal::ReferenceDataSource< std::vector<KDL::Twist> >; 00511 #endif 00512 #ifdef ORO_INPUT_PORT_HPP 00513 extern template class RTT::OutputPort< std::vector<KDL::Twist> >; 00514 #endif 00515 #ifdef ORO_OUTPUT_PORT_HPP 00516 extern template class RTT::InputPort< std::vector<KDL::Twist> >; 00517 #endif 00518 #ifdef ORO_PROPERTY_HPP 00519 extern template class RTT::Property< std::vector<KDL::Twist> >; 00520 #endif 00521 #ifdef ORO_CORELIB_ATTRIBUTE_HPP 00522 extern template class RTT::Attribute< std::vector<KDL::Twist> >; 00523 #endif 00524 00525 00526 namespace boost 00527 { 00528 namespace serialization 00529 { 00530 template<typename Archive> 00531 void serialize(Archive& a, std::vector<KDL::Twist>& b, unsigned int version) 00532 { 00533 using boost::serialization::make_nvp; 00534 for(unsigned int i=0; i < b.size(); i++){ 00535 boost::serialization::serialize(a, b[i], version); 00536 00537 } 00538 } 00539 } 00540 } 00541 #ifdef CORELIB_DATASOURCE_HPP 00542 extern template class RTT::internal::DataSource< std::vector<KDL::Wrench> >; 00543 extern template class RTT::internal::AssignableDataSource< std::vector<KDL::Wrench> >; 00544 #endif 00545 #ifdef ORO_CORELIB_DATASOURCES_HPP 00546 extern template class RTT::internal::ValueDataSource< std::vector<KDL::Wrench> >; 00547 extern template class RTT::internal::ConstantDataSource< std::vector<KDL::Wrench> >; 00548 extern template class RTT::internal::ReferenceDataSource< std::vector<KDL::Wrench> >; 00549 #endif 00550 #ifdef ORO_INPUT_PORT_HPP 00551 extern template class RTT::OutputPort< std::vector<KDL::Wrench> >; 00552 #endif 00553 #ifdef ORO_OUTPUT_PORT_HPP 00554 extern template class RTT::InputPort< std::vector<KDL::Wrench> >; 00555 #endif 00556 #ifdef ORO_PROPERTY_HPP 00557 extern template class RTT::Property< std::vector<KDL::Wrench> >; 00558 #endif 00559 #ifdef ORO_CORELIB_ATTRIBUTE_HPP 00560 extern template class RTT::Attribute< std::vector<KDL::Wrench> >; 00561 #endif 00562 00563 00564 namespace boost 00565 { 00566 namespace serialization 00567 { 00568 template<typename Archive> 00569 void serialize(Archive& a, std::vector<KDL::Wrench>& b, unsigned int version) 00570 { 00571 using boost::serialization::make_nvp; 00572 for(unsigned int i=0; i < b.size(); i++){ 00573 boost::serialization::serialize(a, b[i], version); 00574 00575 } 00576 } 00577 } 00578 } 00579 #endif 00580