5 #ifndef __pinocchio_serialization_frame_hpp__ 6 #define __pinocchio_serialization_frame_hpp__ 8 #include "pinocchio/multibody/frame.hpp" 9 #include "pinocchio/serialization/fwd.hpp" 10 #include "pinocchio/serialization/se3.hpp" 12 #include <boost/serialization/split_free.hpp> 13 #include <boost/serialization/vector.hpp> 17 namespace serialization
20 template <
class Archive,
typename Scalar,
int Options>
21 void save(Archive & ar,
25 ar & make_nvp(
"name",f.
name);
26 ar & make_nvp(
"parent",f.
parent);
29 ar & make_nvp(
"type",f.
type);
32 template <
class Archive,
typename Scalar,
int Options>
33 void load(Archive & ar,
37 ar >> make_nvp(
"name",f.
name);
38 ar >> make_nvp(
"parent",f.
parent);
41 ar >> make_nvp(
"type",f.
type);
44 template <
class Archive,
typename Scalar,
int Options>
45 void serialize(Archive & ar,
47 const unsigned int version)
49 split_free(ar,f,version);
55 #endif // ifndef __pinocchio_serialization_frame_hpp__
A Plucker coordinate frame attached to a parent joint inside a kinematic tree.
SE3 placement
Placement of the frame wrt the parent joint.
std::string name
Name of the frame.
JointIndex parent
Index of the parent joint.
FrameIndex previousFrame
Index of the previous frame.
FrameType type
Type of the frame.