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Guilhem Saurel
ndcurves
Commits
b850ef37
Commit
b850ef37
authored
Apr 14, 2021
by
Guilhem Saurel
Browse files
serialization of eigen matrix is available in pinocchio v2.6.0
parent
4441d0df
Changes
1
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include/ndcurves/serialization/eigen-matrix.hpp
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b850ef37
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@@ -28,6 +28,17 @@
#ifndef EIGEN_BOOST_SERIALIZATION
#define EIGEN_BOOST_SERIALIZATION
#ifdef CURVES_WITH_PINOCCHIO_SUPPORT
#include
<pinocchio/config.hpp>
#if PINOCCHIO_VERSION_AT_LEAST(2, 6, 0)
#define CURVES_WITH_PINOCCHIO_260
#endif
#endif
#ifdef CURVES_WITH_PINOCCHIO_260
#include
<pinocchio/serialization/eigen.hpp>
#else
#include
<Eigen/Dense>
#include
<boost/serialization/split_free.hpp>
#include
<boost/serialization/vector.hpp>
...
...
@@ -64,4 +75,8 @@ void serialize(Archive& ar, Eigen::Matrix<_Scalar, _Rows, _Cols, _Options, _MaxR
}
// namespace serialization
}
// namespace boost
#endif
#undef CURVES_WITH_PINOCCHIO_260
#endif // ifndef __multicontact_api_serialization_eigen_matrix_hpp__
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