joints-motion.hpp
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1 //
2 // Copyright (c) 2019 INRIA
3 //
4 
5 #ifndef __pinocchio_serialization_joints_motion_hpp__
6 #define __pinocchio_serialization_joints_motion_hpp__
7 
8 #include "pinocchio/serialization/fwd.hpp"
9 
10 #include <boost/serialization/split_free.hpp>
11 #include <boost/serialization/vector.hpp>
12 
13 namespace boost
14 {
15  namespace serialization
16  {
17 
18  template<class Archive, typename Scalar, int Options, int axis>
19  void serialize(
20  Archive & ar,
21  pinocchio::MotionRevoluteTpl<Scalar, Options, axis> & m,
22  const unsigned int /*version*/)
23  {
24  ar & make_nvp("w", m.angularRate());
25  }
26 
27  template<class Archive, typename Scalar, int Options, int axis>
28  void serialize(
29  Archive & ar,
30  pinocchio::MotionPrismaticTpl<Scalar, Options, axis> & m,
31  const unsigned int /*version*/)
32  {
33  ar & make_nvp("v", m.linearRate());
34  }
35 
36  template<class Archive, typename Scalar, int Options, int axis>
37  void serialize(
38  Archive & ar,
39  pinocchio::MotionHelicalTpl<Scalar, Options, axis> & m,
40  const unsigned int /*version*/)
41  {
42  ar & make_nvp("w", m.angularRate());
43  ar & make_nvp("v", m.linearRate());
44  }
45 
46  template<class Archive, typename Scalar, int Options>
47  void serialize(
48  Archive & ar,
49  pinocchio::MotionSphericalTpl<Scalar, Options> & m,
50  const unsigned int /*version*/)
51  {
52  ar & make_nvp("angular", m.angular());
53  }
54 
55  template<class Archive, typename Scalar, int Options>
56  void serialize(
57  Archive & ar,
58  pinocchio::MotionTranslationTpl<Scalar, Options> & m,
59  const unsigned int /*version*/)
60  {
61  ar & make_nvp("linear", m.linear());
62  }
63 
64  template<class Archive, typename Scalar, int Options>
65  void serialize(
66  Archive & ar, pinocchio::MotionPlanarTpl<Scalar, Options> & m, const unsigned int /*version*/)
67  {
68  ar & make_nvp("data", m.data());
69  }
70 
71  template<class Archive, typename Scalar, int Options>
72  void serialize(
73  Archive & ar,
74  pinocchio::MotionRevoluteUnalignedTpl<Scalar, Options> & m,
75  const unsigned int /*version*/)
76  {
77  ar & make_nvp("axis", m.axis());
78  ar & make_nvp("w", m.angularRate());
79  }
80 
81  template<class Archive, typename Scalar, int Options>
82  void serialize(
83  Archive & ar,
84  pinocchio::MotionPrismaticUnalignedTpl<Scalar, Options> & m,
85  const unsigned int /*version*/)
86  {
87  ar & make_nvp("axis", m.axis());
88  ar & make_nvp("v", m.linearRate());
89  }
90 
91  template<class Archive, typename Scalar, int Options>
92  void serialize(
93  Archive & ar,
94  pinocchio::MotionHelicalUnalignedTpl<Scalar, Options> & m,
95  const unsigned int /*version*/)
96  {
97  ar & make_nvp("axis", m.axis());
98  ar & make_nvp("w", m.angularRate());
99  ar & make_nvp("v", m.linearRate());
100  }
101  } // namespace serialization
102 } // namespace boost
103 
104 #endif // ifndef __pinocchio_serialization_joints_motion_hpp__
pinocchio::MotionPrismaticUnalignedTpl
Definition: joint-prismatic-unaligned.hpp:20
test-cpp2pybind11.m
m
Definition: test-cpp2pybind11.py:25
pinocchio::MotionPrismaticTpl
Definition: joint-prismatic.hpp:20
boost::serialization::serialize
void serialize(Archive &ar, Eigen::Map< PlainObjectBase, MapOptions, StrideType > &m, const unsigned int version)
Definition: serialization/eigen.hpp:222
pinocchio::MotionRevoluteTpl
Definition: joint-revolute.hpp:20
boost
boost::serialization::make_nvp
const nvp< pinocchio::container::aligned_vector< T > > make_nvp(const char *name, pinocchio::container::aligned_vector< T > &t)
Definition: serialization/aligned-vector.hpp:37
pinocchio::MotionSphericalTpl
Definition: joint-spherical.hpp:20
pinocchio::MotionRevoluteUnalignedTpl
Definition: joint-revolute-unaligned.hpp:21
pinocchio::MotionPlanarTpl
Definition: joint-planar.hpp:20
serialization
Definition: serialization.py:1
pinocchio::MotionHelicalUnalignedTpl
Definition: joint-helical-unaligned.hpp:20
pinocchio::MotionTranslationTpl
Definition: joint-translation.hpp:19
pinocchio::MotionHelicalTpl
Definition: joint-helical.hpp:19
fwd.hpp

pinocchio
Author(s):
autogenerated on Wed Apr 16 2025 02:41:49