frame.hpp

//
// Copyright (c) 2019-2021 INRIA
//

#ifndef __pinocchio_serialization_frame_hpp__
#define __pinocchio_serialization_frame_hpp__

#include "pinocchio/multibody/frame.hpp"

#include "pinocchio/serialization/fwd.hpp"
#include "pinocchio/serialization/se3.hpp"
#include "pinocchio/serialization/inertia.hpp"

namespace boost
{
 namespace serialization
 {

 template<class Archive, typename Scalar, int Options>
 void
 serialize(Archive & ar, pinocchio::FrameTpl<Scalar, Options> & f, const unsigned int version)
 {
 ar & make_nvp("name", f.name);
 ar & make_nvp("parent", f.parentJoint);
 ar & make_nvp("parentFrame", f.parentFrame);
 ar & make_nvp("placement", f.placement);
 ar & make_nvp("type", f.type);

 if (version > 0)
 ar & make_nvp("inertia", f.inertia);
 }

 template<typename Scalar, int Options>
 struct version<pinocchio::FrameTpl<Scalar, Options>>
 {
 enum
 {
 value = 1
 };
 };

 } // namespace serialization
} // namespace boost

#endif // ifndef __pinocchio_serialization_frame_hpp__