joints-motion-subspace.hpp

//
// Copyright (c) 2019-2020 INRIA
//

#ifndef __pinocchio_serialization_joints_motion_subspace_hpp__
#define __pinocchio_serialization_joints_motion_subspace_hpp__

#include "pinocchio/serialization/fwd.hpp"

#include <boost/serialization/split_free.hpp>
#include <boost/serialization/vector.hpp>

namespace boost
{
 namespace serialization
 {

 template<class Archive, typename Scalar, int Options, int axis>
 void serialize(
 Archive & /*ar*/,
 pinocchio::JointMotionSubspaceRevoluteTpl<Scalar, Options, axis> & /*S*/,
 const unsigned int /*version*/)
 {
 }

 template<class Archive, typename Scalar, int Options, int axis>
 void serialize(
 Archive & /*ar*/,
 pinocchio::JointMotionSubspacePrismaticTpl<Scalar, Options, axis> & /*S*/,
 const unsigned int /*version*/)
 {
 }

 template<class Archive, typename Scalar, int Options, int axis>
 void serialize(
 Archive & ar,
 pinocchio::JointMotionSubspaceHelicalTpl<Scalar, Options, axis> & S,
 const unsigned int /*version*/)
 {
 ar & make_nvp("h", S.h());
 }

 template<class Archive, typename Scalar, int Options>
 void serialize(
 Archive & /*ar*/,
 pinocchio::JointMotionSubspaceSphericalTpl<Scalar, Options> & /*S*/,
 const unsigned int /*version*/)
 {
 }

 template<class Archive, typename Scalar, int Options>
 void serialize(
 Archive & /*ar*/,
 pinocchio::JointMotionSubspaceTranslationTpl<Scalar, Options> & /*S*/,
 const unsigned int /*version*/)
 {
 }

 template<class Archive, typename Scalar, int Options>
 void serialize(
 Archive & /*ar*/,
 pinocchio::JointMotionSubspaceIdentityTpl<Scalar, Options> & /*S*/,
 const unsigned int /*version*/)
 {
 }

 template<class Archive, typename Scalar, int Options>
 void serialize(
 Archive & ar,
 pinocchio::JointMotionSubspaceRevoluteUnalignedTpl<Scalar, Options> & S,
 const unsigned int /*version*/)
 {
 ar & make_nvp("axis", S.axis());
 }

 template<class Archive, typename Scalar, int Options>
 void serialize(
 Archive & ar,
 pinocchio::JointMotionSubspacePrismaticUnalignedTpl<Scalar, Options> & S,
 const unsigned int /*version*/)
 {
 ar & make_nvp("axis", S.axis());
 }

 template<class Archive, typename Scalar, int Options>
 void serialize(
 Archive & ar,
 pinocchio::JointMotionSubspaceHelicalUnalignedTpl<Scalar, Options> & S,
 const unsigned int /*version*/)
 {
 ar & make_nvp("axis", S.axis());
 ar & make_nvp("h", S.h());
 }

 template<class Archive, typename Scalar, int Options>
 void serialize(
 Archive & ar,
 pinocchio::JointMotionSubspaceUniversalTpl<Scalar, Options> & S,
 const unsigned int /*version*/)
 {
 ar & make_nvp("angularSubspace", S.angularSubspace());
 }

 template<class Archive, int Dim, typename Scalar, int Options, int MaxDim>
 void serialize(
 Archive & ar,
 pinocchio::JointMotionSubspaceTpl<Dim, Scalar, Options, MaxDim> & S,
 const unsigned int /*version*/)
 {
 ar & make_nvp("matrix", S.matrix());
 }

 template<class Archive, typename Scalar, int Options, int MaxDim>
 void serialize(
 Archive & ar,
 pinocchio::ScaledJointMotionSubspaceTpl<Scalar, Options, MaxDim> & S,
 const unsigned int /*version*/)
 {
 ar & make_nvp("scaling", S.scaling());
 ar & make_nvp("constraint", S.constraint());
 }

 template<class Archive, typename Scalar, int Options>
 void serialize(
 Archive & /*ar*/,
 pinocchio::JointMotionSubspacePlanarTpl<Scalar, Options> & /*S*/,
 const unsigned int /*version*/)
 {
 }

 template<class Archive, typename Scalar, int Options>
 void serialize(
 Archive & ar,
 pinocchio::JointMotionSubspaceSphericalZYXTpl<Scalar, Options> & S,
 const unsigned int /*version*/)
 {
 ar & make_nvp("angularSubspace", S.angularSubspace());
 }

 template<class Archive, typename Scalar, int Options>
 void serialize(
 Archive & ar,
 pinocchio::JointMotionSubspaceEllipsoidTpl<Scalar, Options> & S,
 const unsigned int /*version*/)
 {
 ar & make_nvp("S", S.S);
 }

 } // namespace serialization
} // namespace boost

#endif // ifndef __pinocchio_serialization_joints_motion_subspace_hpp__