motion.hpp

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

#ifndef __pinocchio_serialization_motion_hpp__
#define __pinocchio_serialization_motion_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>
 void save(
 Archive & ar, const pinocchio::MotionTpl<Scalar, Options> & m, const unsigned int /*version*/)
 {
 ar & make_nvp("linear", make_array(m.linear().data(), 3));
 ar & make_nvp("angular", make_array(m.angular().data(), 3));
 }

 template<class Archive, typename Scalar, int Options>
 void
 load(Archive & ar, pinocchio::MotionTpl<Scalar, Options> & m, const unsigned int /*version*/)
 {
 ar >> make_nvp("linear", make_array(m.linear().data(), 3));
 ar >> make_nvp("angular", make_array(m.angular().data(), 3));
 }

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

 template<class Archive, typename Scalar, int Options>
 void serialize(
 Archive & /*ar*/,
 pinocchio::MotionZeroTpl<Scalar, Options> & /*m*/,
 const unsigned int /*version*/)
 {
 // Nothing to do
 }

 } // namespace serialization
} // namespace boost

#endif // ifndef __pinocchio_serialization_motion_hpp__