Helios++
Helios software for LiDAR simulations
serial_dynamic.h
1 #pragma once
2 
3 #include <DynMotion.h>
4 
5 namespace boost{ namespace serialization{
6 
7 // *** DynMotion SERIALIZATION *** //
8 // ********************************* //
12 template<class Archive>
13 void save_construct_data(
14  Archive &ar,
15  const DynMotion * dm,
16  const unsigned int version
17 ){
18  // Write what is needed to construct
19  ar << dm->getC();
20  ar << dm->getA();
21 }
25 template<class Archive>
26 void load_construct_data(
27  Archive &ar,
28  DynMotion *dm,
29  const unsigned int version
30 ){
31  // Construct from reading what is needed to construct
32  arma::colvec C; ar >> C;
33  arma::mat A; ar >> A;
34  ::new(dm)DynMotion(C, A);
35 }
36 
37 
38 }}
Class which wraps the RigidMotion class to implement extra features such as the self mode control mec...
Definition: DynMotion.h:26
colvec getC() const
Get the translation column vector.
Definition: RigidMotion.h:208
arma::mat getA() const
Get the fixed origin transformation matrix.
Definition: RigidMotion.h:218