pinocchio  2.6.3
A fast and flexible implementation of Rigid Body Dynamics algorithms and their analytical derivatives
joints-constraint.hpp
1 //
2 // Copyright (c) 2019 INRIA
3 //
4 
5 #ifndef __pinocchio_serialization_joints_constraint_hpp__
6 #define __pinocchio_serialization_joints_constraint_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(Archive & /*ar*/,
21  const unsigned int /*version*/)
22  {}
23 
24  template <class Archive, typename Scalar, int Options, int axis>
25  void serialize(Archive & /*ar*/,
27  const unsigned int /*version*/)
28  {}
29 
30  template <class Archive, typename Scalar, int Options>
31  void serialize(Archive & /*ar*/,
33  const unsigned int /*version*/)
34  {}
35 
36  template <class Archive, typename Scalar, int Options>
37  void serialize(Archive & /*ar*/,
39  const unsigned int /*version*/)
40  {}
41 
42  template <class Archive, typename Scalar, int Options>
43  void serialize(Archive & /*ar*/,
45  const unsigned int /*version*/)
46  {}
47 
48  template <class Archive, typename Scalar, int Options>
49  void serialize(Archive & ar,
51  const unsigned int /*version*/)
52  {
53  ar & make_nvp("axis",S.axis());
54  }
55 
56  template <class Archive, typename Scalar, int Options>
57  void serialize(Archive & ar,
59  const unsigned int /*version*/)
60  {
61  ar & make_nvp("axis",S.axis());
62  }
63 
64  template <class Archive, int Dim, typename Scalar, int Options>
65  void serialize(Archive & ar,
67  const unsigned int /*version*/)
68  {
69  ar & make_nvp("matrix",S.matrix());
70  }
71 
72  template <class Archive, class Constraint>
73  void serialize(Archive & ar,
75  const unsigned int /*version*/)
76  {
77  ar & make_nvp("scaling",S.scaling());
78  ar & make_nvp("constraint",S.constraint());
79  }
80 
81  template <class Archive, typename Scalar, int Options>
82  void serialize(Archive & /*ar*/,
84  const unsigned int /*version*/)
85  {}
86 
87  template <class Archive, typename Scalar, int Options>
88  void serialize(Archive & ar,
90  const unsigned int /*version*/)
91  {
92  ar & make_nvp("angularSubspace",S.angularSubspace());
93  }
94 
95  }
96 }
97 
98 #endif // ifndef __pinocchio_serialization_joints_constraint_hpp__
99 
pinocchio::ConstraintPlanarTpl
Definition: joint-planar.hpp:201
pinocchio::ConstraintIdentityTpl
Definition: joint-free-flyer.hpp:20
pinocchio::ConstraintRevoluteUnalignedTpl
Definition: joint-revolute-unaligned.hpp:193
pinocchio::ConstraintSphericalTpl
Definition: joint-spherical.hpp:181
pinocchio::ConstraintSphericalZYXTpl
Definition: joint-spherical-ZYX.hpp:20
pinocchio::ConstraintRevoluteTpl
Definition: joint-revolute.hpp:330
pinocchio::ConstraintTranslationTpl
Definition: joint-translation.hpp:255
pinocchio::ConstraintPrismaticTpl
Definition: joint-prismatic.hpp:257
pinocchio::ConstraintPrismaticUnalignedTpl
Definition: joint-prismatic-unaligned.hpp:182
pinocchio::ConstraintTpl
Definition: constraint-generic.hpp:42
pinocchio::ScaledConstraint
Definition: joint-mimic.hpp:14