Program Listing for File joints-motion-subspace.hpp
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//
// Copyright (c) 2019-2020 INRIA
//
#ifndef __pinocchio_serialization_joints_motion_subspace_hpp__
#define __pinocchio_serialization_joints_motion_subspace_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::JointMotionSubspaceRevoluteTpl<Scalar, Options, axis> & /*S*/,
const unsigned int /*version*/)
{
}
template<class Archive, typename Scalar, int Options, int axis>
void serialize(
Archive & /*ar*/,
pinocchio::JointMotionSubspacePrismaticTpl<Scalar, Options, axis> & /*S*/,
const unsigned int /*version*/)
{
}
template<class Archive, typename Scalar, int Options, int axis>
void serialize(
Archive & ar,
pinocchio::JointMotionSubspaceHelicalTpl<Scalar, Options, axis> & S,
const unsigned int /*version*/)
{
ar & make_nvp("h", S.h());
}
template<class Archive, typename Scalar, int Options>
void serialize(
Archive & /*ar*/,
pinocchio::JointMotionSubspaceSphericalTpl<Scalar, Options> & /*S*/,
const unsigned int /*version*/)
{
}
template<class Archive, typename Scalar, int Options>
void serialize(
Archive & /*ar*/,
pinocchio::JointMotionSubspaceTranslationTpl<Scalar, Options> & /*S*/,
const unsigned int /*version*/)
{
}
template<class Archive, typename Scalar, int Options>
void serialize(
Archive & /*ar*/,
pinocchio::JointMotionSubspaceIdentityTpl<Scalar, Options> & /*S*/,
const unsigned int /*version*/)
{
}
template<class Archive, typename Scalar, int Options>
void serialize(
Archive & ar,
pinocchio::JointMotionSubspaceRevoluteUnalignedTpl<Scalar, Options> & S,
const unsigned int /*version*/)
{
ar & make_nvp("axis", S.axis());
}
template<class Archive, typename Scalar, int Options>
void serialize(
Archive & ar,
pinocchio::JointMotionSubspacePrismaticUnalignedTpl<Scalar, Options> & S,
const unsigned int /*version*/)
{
ar & make_nvp("axis", S.axis());
}
template<class Archive, typename Scalar, int Options>
void serialize(
Archive & ar,
pinocchio::JointMotionSubspaceHelicalUnalignedTpl<Scalar, Options> & S,
const unsigned int /*version*/)
{
ar & make_nvp("axis", S.axis());
ar & make_nvp("h", S.h());
}
template<class Archive, typename Scalar, int Options>
void serialize(
Archive & ar,
pinocchio::JointMotionSubspaceUniversalTpl<Scalar, Options> & S,
const unsigned int /*version*/)
{
ar & make_nvp("angularSubspace", S.angularSubspace());
}
template<class Archive, int Dim, typename Scalar, int Options>
void serialize(
Archive & ar,
pinocchio::JointMotionSubspaceTpl<Dim, Scalar, Options> & S,
const unsigned int /*version*/)
{
ar & make_nvp("matrix", S.matrix());
}
template<class Archive, class Constraint>
void serialize(
Archive & ar,
pinocchio::ScaledJointMotionSubspace<Constraint> & S,
const unsigned int /*version*/)
{
ar & make_nvp("scaling", S.scaling());
ar & make_nvp("constraint", S.constraint());
}
template<class Archive, typename Scalar, int Options>
void serialize(
Archive & /*ar*/,
pinocchio::JointMotionSubspacePlanarTpl<Scalar, Options> & /*S*/,
const unsigned int /*version*/)
{
}
template<class Archive, typename Scalar, int Options>
void serialize(
Archive & ar,
pinocchio::JointMotionSubspaceSphericalZYXTpl<Scalar, Options> & S,
const unsigned int /*version*/)
{
ar & make_nvp("angularSubspace", S.angularSubspace());
}
} // namespace serialization
} // namespace boost
#endif // ifndef __pinocchio_serialization_joints_motion_subspace_hpp__