spatial.hpp

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// Copyright (c) 2015-2018, CNRS
// Authors: Justin Carpentier <jcarpent@laas.fr>
 
#ifndef __multicontact_api_serialization_spatial_hpp__
#define __multicontact_api_serialization_spatial_hpp__
 
#include <boost/serialization/split_free.hpp>
#include <boost/serialization/vector.hpp>
#include <pinocchio/spatial/force.hpp>
#include <pinocchio/spatial/se3.hpp>
 
namespace boost {
 
namespace serialization {
 
template <class Archive, typename _Scalar, int _Options>
void save(Archive& ar, const pinocchio::SE3Tpl<_Scalar, _Options>& M,
          const unsigned int /*version*/) {
  ar& make_nvp("translation", make_array(M.translation().data(), 3));
  ar& make_nvp("rotation", make_array(M.rotation().data(), 9));
}
 
template <class Archive, typename _Scalar, int _Options>
void load(Archive& ar, pinocchio::SE3Tpl<_Scalar, _Options>& M,
          const unsigned int /*version*/) {
  ar >> make_nvp("translation", make_array(M.translation().data(), 3));
  ar >> make_nvp("rotation", make_array(M.rotation().data(), 9));
}
 
template <class Archive, typename _Scalar, int _Options>
void serialize(Archive& ar, pinocchio::SE3Tpl<_Scalar, _Options>& M,
               const unsigned int version) {
  split_free(ar, M, version);
}
 
template <class Archive, typename _Scalar, int _Options>
void save(Archive& ar, const pinocchio::ForceTpl<_Scalar, _Options>& f,
          const unsigned int /*version*/) {
  ar& make_nvp("linear", make_array(f.linear().data(), 3));
  ar& make_nvp("angular", make_array(f.angular().data(), 3));
}
 
template <class Archive, typename _Scalar, int _Options>
void load(Archive& ar, pinocchio::ForceTpl<_Scalar, _Options>& f,
          const unsigned int /*version*/) {
  ar >> make_nvp("linear", make_array(f.linear().data(), 3));
  ar >> make_nvp("angular", make_array(f.angular().data(), 3));
}
 
template <class Archive, typename _Scalar, int _Options>
void serialize(Archive& ar, pinocchio::ForceTpl<_Scalar, _Options>& f,
               const unsigned int version) {
  split_free(ar, f, version);
}
 
}  // namespace serialization
 
}  // namespace boost
 
#endif  // ifndef __multicontact_api_serialization_spatial_hpp__