5 #ifndef __pinocchio_multibody_data_serialization_hpp__ 6 #define __pinocchio_multibody_data_serialization_hpp__ 8 #include <boost/serialization/variant.hpp> 9 #include <boost/serialization/vector.hpp> 11 #include "pinocchio/serialization/fwd.hpp" 12 #include "pinocchio/serialization/aligned-vector.hpp" 13 #include "pinocchio/serialization/spatial.hpp" 14 #include "pinocchio/serialization/joints.hpp" 15 #include "pinocchio/serialization/frame.hpp" 17 #define PINOCCHIO_MAKE_DATA_NVP(ar,data,field_name) \ 18 ar & make_nvp(#field_name,data.field_name) 24 template<
class Archive,
typename Scalar,
int Options,
template<
typename,
int>
class JointCollectionTpl>
121 #undef PINOCCHIO_MAKE_DATA_NVP 123 #endif // ifndef __pinocchio_multibody_data_serialization_hpp__
void serialize(Archive &ar, hpp::fcl::AABB &aabb, const unsigned int)
#define PINOCCHIO_MAKE_DATA_NVP(ar, data, field_name)
void bodyRegressor(const MotionDense< MotionVelocity > &v, const MotionDense< MotionAcceleration > &a, const Eigen::MatrixBase< OutputType > ®ressor)
Computes the regressor for the dynamic parameters of a single rigid body.