Program Listing for File model.hpp
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//
// Copyright (c) 2019-2020 INRIA
//
#ifndef __pinocchio_serialization_model_hpp__
#define __pinocchio_serialization_model_hpp__
#include <boost/serialization/string.hpp>
#include <boost/serialization/variant.hpp>
#include <boost/serialization/vector.hpp>
#include <boost/serialization/map.hpp>
#include "pinocchio/serialization/fwd.hpp"
#include "pinocchio/serialization/aligned-vector.hpp"
#include "pinocchio/serialization/spatial.hpp"
#include "pinocchio/serialization/eigen.hpp"
#include "pinocchio/serialization/joints.hpp"
#include "pinocchio/serialization/frame.hpp"
namespace boost
{
namespace serialization
{
template<
class Archive,
typename Scalar,
int Options,
template<typename, int> class JointCollectionTpl>
void serialize(
Archive & ar,
pinocchio::ModelTpl<Scalar, Options, JointCollectionTpl> & model,
const unsigned int /*version*/)
{
ar & make_nvp("nq", model.nq);
ar & make_nvp("nqs", model.nqs);
ar & make_nvp("idx_qs", model.idx_qs);
ar & make_nvp("nv", model.nv);
ar & make_nvp("nvs", model.nvs);
ar & make_nvp("idx_vs", model.idx_vs);
ar & make_nvp("njoints", model.njoints);
ar & make_nvp("nbodies", model.nbodies);
ar & make_nvp("nframes", model.nframes);
ar & make_nvp("parents", model.parents);
ar & make_nvp("children", model.children);
ar & make_nvp("names", model.names);
ar & make_nvp("supports", model.supports);
ar & make_nvp("subtrees", model.subtrees);
ar & make_nvp("gravity", model.gravity);
ar & make_nvp("name", model.name);
ar & make_nvp("referenceConfigurations", model.referenceConfigurations);
ar & make_nvp("armature", model.armature);
ar & make_nvp("rotorInertia", model.rotorInertia);
ar & make_nvp("rotorGearRatio", model.rotorGearRatio);
ar & make_nvp("friction", model.friction);
ar & make_nvp("damping", model.damping);
ar & make_nvp("effortLimit", model.effortLimit);
ar & make_nvp("velocityLimit", model.velocityLimit);
ar & make_nvp("lowerPositionLimit", model.lowerPositionLimit);
ar & make_nvp("upperPositionLimit", model.upperPositionLimit);
ar & make_nvp("inertias", model.inertias);
ar & make_nvp("jointPlacements", model.jointPlacements);
ar & make_nvp("joints", model.joints);
ar & make_nvp("frames", model.frames);
}
} // namespace serialization
} // namespace boost
#endif // ifndef __pinocchio_serialization_model_hpp__