inertia.hpp

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

#ifndef __pinocchio_serialization_inertia_hpp__
#define __pinocchio_serialization_inertia_hpp__

#include "pinocchio/spatial/inertia.hpp"
#include "pinocchio/serialization/fwd.hpp"
#include "pinocchio/serialization/symmetric3.hpp"

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

namespace boost
{
 namespace serialization
 {

 template<class Archive, typename Scalar, int Options>
 void save(
 Archive & ar,
 const pinocchio::InertiaTpl<Scalar, Options> & I,
 const unsigned int /*version*/)
 {
 const Scalar mass = I.mass();
 ar & make_nvp("mass", mass);
 ar & make_nvp("lever", make_array(I.lever().data(), 3));
 ar & make_nvp("inertia", I.inertia());
 }

 template<class Archive, typename Scalar, int Options>
 void
 load(Archive & ar, pinocchio::InertiaTpl<Scalar, Options> & I, const unsigned int /*version*/)
 {
 ar >> make_nvp("mass", I.mass());
 ar >> make_nvp("lever", make_array(I.lever().data(), 3));
 ar >> make_nvp("inertia", I.inertia());
 }

 template<class Archive, typename Scalar, int Options>
 void
 serialize(Archive & ar, pinocchio::InertiaTpl<Scalar, Options> & I, const unsigned int version)
 {
 split_free(ar, I, version);
 }

 } // namespace serialization
} // namespace boost

#endif // ifndef __pinocchio_serialization_inertia_hpp__