19 #ifndef HPP_PINOCCHIO_SERIALIZATION_HH 20 # define HPP_PINOCCHIO_SERIALIZATION_HH 22 # include <boost/serialization/split_free.hpp> 23 # include <boost/serialization/shared_ptr.hpp> 24 # include <boost/serialization/weak_ptr.hpp> 29 namespace serialization {
39 BOOST_SERIALIZATION_SPLIT_FREE(hpp::pinocchio::DeviceWkPtr_t)
42 namespace serialization {
43 template<
class Archive>
46 load<Archive, hpp::pinocchio::Device> (ar, d, version);
48 archive_device_wrapper* adw =
dynamic_cast<archive_device_wrapper*
>(&ar);
51 template<
class Archive>
52 inline void load (Archive& ar, hpp::pinocchio::DeviceWkPtr_t& d,
const unsigned int version)
54 load<Archive, hpp::pinocchio::Device> (ar, d, version);
56 archive_device_wrapper* adw =
dynamic_cast<archive_device_wrapper*
>(&ar);
59 template<
class Archive>
62 load<Archive, hpp::pinocchio::HumanoidRobot> (ar, d, version);
64 archive_device_wrapper* adw =
dynamic_cast<archive_device_wrapper*
>(&ar);
67 template<
class Archive>
68 inline void load (Archive& ar, hpp::pinocchio::HumanoidRobotWkPtr_t& d,
const unsigned int version)
70 load<Archive, hpp::pinocchio::HumanoidRobot> (ar, d, version);
72 archive_device_wrapper* adw =
dynamic_cast<archive_device_wrapper*
>(&ar);
76 template <
class Archive,
typename _Scalar,
int _Rows,
int _Cols,
int _Options,
int _MaxRows,
int _MaxCols>
77 inline void serialize(Archive & ar, Eigen::Array<_Scalar,_Rows,_Cols,_Options,_MaxRows,_MaxCols> & m,
const unsigned int version)
80 Eigen::DenseIndex rows(m.rows()), cols(m.cols());
81 ar & BOOST_SERIALIZATION_NVP(rows);
82 ar & BOOST_SERIALIZATION_NVP(cols);
83 if (!Archive::is_saving::value)
86 ar & make_nvp(
"data",make_array(m.data(), (size_t)m.size()));
92 #endif // HPP_PINOCCHIO_SERIALIZATION_HH Humanoid robot.
Definition: humanoid-robot.hh:34
boost::shared_ptr< Device > DevicePtr_t
Definition: fwd.hh:106
Definition: serialization.hh:25
Utility functions.
Definition: body.hh:30
boost::shared_ptr< HumanoidRobot > HumanoidRobotPtr_t
Definition: fwd.hh:109
virtual ~archive_device_wrapper()
Definition: serialization.hh:32
void serialize(Archive &ar, Eigen::Array< _Scalar, _Rows, _Cols, _Options, _MaxRows, _MaxCols > &m, const unsigned int version)
Definition: serialization.hh:77
pinocchio::DevicePtr_t device
Definition: serialization.hh:31
void load(Archive &ar, hpp::pinocchio::HumanoidRobotWkPtr_t &d, const unsigned int version)
Definition: serialization.hh:68
Definition: serialization.hh:30