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>

 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>

 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>

 const unsigned int version) {
 split_free(ar, M, version);
}

template <class Archive, typename _Scalar, int _Options>

 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>

 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>

 const unsigned int version) {
 split_free(ar, f, version);
}

} // namespace serialization

} // namespace boost

#endif // ifndef __multicontact_api_serialization_spatial_hpp__