Commit b850ef37 authored by Guilhem Saurel's avatar Guilhem Saurel
Browse files

serialization of eigen matrix is available in pinocchio v2.6.0

parent 4441d0df
......@@ -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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