Program Listing for File frame.hpp
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)
//
// Copyright (c) 2019-2021 INRIA
//
#ifndef __pinocchio_serialization_frame_hpp__
#define __pinocchio_serialization_frame_hpp__
#include "pinocchio/multibody/frame.hpp"
#include "pinocchio/serialization/fwd.hpp"
#include "pinocchio/serialization/se3.hpp"
#include "pinocchio/serialization/inertia.hpp"
namespace boost
{
namespace serialization
{
template<class Archive, typename Scalar, int Options>
void
serialize(Archive & ar, pinocchio::FrameTpl<Scalar, Options> & f, const unsigned int version)
{
ar & make_nvp("name", f.name);
ar & make_nvp("parent", f.parentJoint);
ar & make_nvp("parentFrame", f.parentFrame);
ar & make_nvp("placement", f.placement);
ar & make_nvp("type", f.type);
if (version > 0)
ar & make_nvp("inertia", f.inertia);
}
template<typename Scalar, int Options>
struct version<pinocchio::FrameTpl<Scalar, Options>>
{
enum
{
value = 1
};
};
} // namespace serialization
} // namespace boost
#endif // ifndef __pinocchio_serialization_frame_hpp__