5 #ifndef __pinocchio_serialization_joints_model_hpp__ 6 #define __pinocchio_serialization_joints_model_hpp__ 10 template<
typename Scalar,
int Options,
template<
typename S,
int O>
class JointCollectionTpl>
13 template<
typename Archive>
14 static void run(Archive & ar,
17 using boost::serialization::make_nvp;
19 ar & make_nvp(
"m_nq",joint.
m_nq);
20 ar & make_nvp(
"m_nv",joint.m_nv);
21 ar & make_nvp(
"m_idx_q",joint.
m_idx_q);
22 ar & make_nvp(
"m_nqs",joint.
m_nqs);
23 ar & make_nvp(
"m_idx_v",joint.
m_idx_v);
24 ar & make_nvp(
"m_nvs",joint.
m_nvs);
25 ar & make_nvp(
"njoints",joint.
njoints);
27 ar & make_nvp(
"joints",joint.
joints);
28 ar & make_nvp(
"jointPlacements",joint.jointPlacements);
35 namespace serialization
42 template <
class Archive,
typename Derived>
43 void serialize(Archive & ar,
45 const unsigned int version)
47 split_free(ar, joint, version);
51 template<
class Archive,
typename Derived>
52 void save(Archive & ar,
56 const pinocchio::JointIndex i_id = joint.id();
57 const int i_q = joint.idx_q(), i_v = joint.idx_v();
59 ar & make_nvp(
"i_id",i_id);
60 ar & make_nvp(
"i_q",i_q);
61 ar & make_nvp(
"i_v",i_v);
64 template<
class Archive,
typename Derived>
65 void load(Archive & ar,
69 pinocchio::JointIndex i_id;
72 ar & make_nvp(
"i_id",i_id);
73 ar & make_nvp(
"i_q",i_q);
74 ar & make_nvp(
"i_v",i_v);
76 joint.setIndexes(i_id,i_q,i_v);
79 template <
class Archive,
typename Scalar,
int Options,
int axis>
80 void serialize(Archive & ar,
82 const unsigned int version)
89 template <
class Archive,
typename Scalar,
int Options,
int axis>
90 void serialize(Archive & ar,
92 const unsigned int version)
99 template <
class Archive,
typename Scalar,
int Options,
int axis>
100 void serialize(Archive & ar,
102 const unsigned int version)
109 template <
class Archive,
typename Scalar,
int Options>
110 void serialize(Archive & ar,
112 const unsigned int version)
119 template <
class Archive,
typename Scalar,
int Options>
120 void serialize(Archive & ar,
122 const unsigned int version)
129 template <
class Archive,
typename Scalar,
int Options>
130 void serialize(Archive & ar,
132 const unsigned int version)
139 template <
class Archive,
typename Scalar,
int Options>
140 void serialize(Archive & ar,
142 const unsigned int version)
149 template <
class Archive,
typename Scalar,
int Options>
150 void serialize(Archive & ar,
152 const unsigned int version)
159 template <
class Archive,
typename Scalar,
int Options>
160 void serialize(Archive & ar,
162 const unsigned int version)
167 ar & make_nvp(
"axis",joint.
axis);
170 template <
class Archive,
typename Scalar,
int Options>
171 void serialize(Archive & ar,
173 const unsigned int version)
178 ar & make_nvp(
"axis",joint.
axis);
181 template <
class Archive,
typename Scalar,
int Options>
182 void serialize(Archive & ar,
184 const unsigned int version)
189 ar & make_nvp(
"axis",joint.
axis);
192 template <
class Archive,
typename Scalar,
int Options,
template<
typename S,
int O>
class JointCollectionTpl>
193 void serialize(Archive & ar,
195 const unsigned int version)
204 template <
class Archive,
typename Scalar,
int Options,
template<
typename S,
int O>
class JointCollectionTpl>
205 void serialize(Archive & ar,
207 const unsigned int version)
213 typedef typename JointCollectionTpl<Scalar,Options>::JointModelVariant JointModelVariant;
214 ar & make_nvp(
"base_variant",base_object<JointModelVariant>(joint));
217 template <
class Archive,
typename Jo
intModel>
218 void serialize(Archive & ar,
220 const unsigned int version)
226 ar & make_nvp(
"jmodel",joint.jmodel());
227 ar & make_nvp(
"scaling",joint.scaling());
228 ar & make_nvp(
"offset",joint.offset());
234 #endif // ifndef __pinocchio_serialization_joints_model_hpp__
std::vector< int > m_nvs
Dimension of the segment in the tangent vector.
std::vector< int > m_idx_v
Index in the tangent vector.
Vector3 axis
3d main axis of the joint.
std::vector< int > m_idx_q
Keep information of both the dimension and the position of the joints in the composition.
std::vector< int > m_nqs
Dimension of the segment in the config vector.
Main pinocchio namespace.
JointModelVector joints
Vector of joints contained in the joint composite.
int m_nq
Dimensions of the config and tangent space of the composite joint.
Vector3 axis
3d main axis of the joint.
Vector3 axis
3d main axis of the joint.
int njoints
Number of joints contained in the JointModelComposite.