2 #ifndef __multicontact_api_scenario_contact_patch_hpp__
3 #define __multicontact_api_scenario_contact_patch_hpp__
5 #include <pinocchio/spatial/se3.hpp>
15 template <
typename _Scalar>
18 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
22 typedef pinocchio::SE3Tpl<Scalar, 0>
SE3;
51 template <
typename S2>
57 template <
typename S2>
59 return !(*
this == other);
62 void disp(std::ostream& os)
const {
68 template <
typename S2>
86 template <
class Archive>
87 void save(Archive& ar,
const unsigned int )
const {
88 ar& boost::serialization::make_nvp(
"placement",
m_placement);
92 template <
class Archive>
93 void load(Archive& ar,
const unsigned int version) {
94 ar >> boost::serialization::make_nvp(
"placement",
m_placement);
99 ar >> boost::serialization::make_nvp(
"mu", mu);
104 BOOST_SERIALIZATION_SPLIT_MEMBER()
void load(Archive &ar, pinocchio::container::aligned_vector< T > &v, const unsigned int version)
Definition: aligned-vector.hpp:24
void save(Archive &ar, const pinocchio::container::aligned_vector< T > &v, const unsigned int version)
Definition: aligned-vector.hpp:16
#define DEFINE_CLASS_TEMPLATE_VERSION(Template, Type)
Definition: archive.hpp:22