CompoundJointConstraintDescription.h

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#pragma once
 
#include <mc_rtc/Configuration.h>
#include <Eigen/Core>
#include <string>
 
namespace mc_rbdyn
{
 
struct CompoundJointConstraintDescription
{
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
  std::string j1;
  std::string j2;
  Eigen::Vector2d p1;
  Eigen::Vector2d p2;
};
 
using CompoundJointConstraintDescriptionVector =
    std::vector<CompoundJointConstraintDescription, Eigen::aligned_allocator<CompoundJointConstraintDescription>>;
 
} // namespace mc_rbdyn
 
namespace mc_rtc
{
template<>
struct ConfigurationLoader<mc_rbdyn::CompoundJointConstraintDescription>
{
  static mc_rbdyn::CompoundJointConstraintDescription load(const mc_rtc::Configuration & config)
  {
    return mc_rbdyn::CompoundJointConstraintDescription{config("j1"), config("j2"), config("p1"), config("p2")};
  }
  static mc_rtc::Configuration save(const mc_rbdyn::CompoundJointConstraintDescription & desc)
  {
    mc_rtc::Configuration config;
    config.add("j1", desc.j1);
    config.add("j2", desc.j1);
    config.add("p1", desc.p1);
    config.add("p2", desc.p2);
    return config;
  }
};
} // namespace mc_rtc