joints-transform.hpp

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

#ifndef __pinocchio_serialization_joints_transform_hpp__
#define __pinocchio_serialization_joints_transform_hpp__

#include "pinocchio/spatial/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::TransformRevoluteTpl<Scalar, Options, axis> & m,
 const unsigned int /*version*/)
 {
 ar & make_nvp("sin", m.sin());
 ar & make_nvp("cos", m.cos());
 }

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

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

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

 } // namespace serialization
} // namespace boost

#endif // ifndef __pinocchio_serialization_joints_transform_hpp__