joints-motion.hpp

//
// Copyright (c) 2019 INRIA
//

#ifndef __pinocchio_serialization_joints_motion_hpp__
#define __pinocchio_serialization_joints_motion_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::MotionRevoluteTpl<Scalar, Options, axis> & m,
 const unsigned int /*version*/)
 {
 ar & make_nvp("w", m.angularRate());
 }

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

 template<class Archive, typename Scalar, int Options, int axis>
 void serialize(
 Archive & ar,
 pinocchio::MotionHelicalTpl<Scalar, Options, axis> & m,
 const unsigned int /*version*/)
 {
 ar & make_nvp("w", m.angularRate());
 ar & make_nvp("v", m.linearRate());
 }

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

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

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

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

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

 template<class Archive, typename Scalar, int Options>
 void serialize(
 Archive & ar,
 pinocchio::MotionHelicalUnalignedTpl<Scalar, Options> & m,
 const unsigned int /*version*/)
 {
 ar & make_nvp("axis", m.axis());
 ar & make_nvp("w", m.angularRate());
 ar & make_nvp("v", m.linearRate());
 }
 } // namespace serialization
} // namespace boost

#endif // ifndef __pinocchio_serialization_joints_motion_hpp__