/opt/ros/diamondback/stacks/graspit_simulator/graspit/graspit_source/include/matvecIO.h File Reference

Prototypes of QTextStream input and output operators for various matrices and vectors. More...

#include <QTextStream>
#include "matvec3D.h"

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Defines
#define	_MATVECIO_H_
Functions
QTextStream &	operator<< (QTextStream &os, const transf &tr)
QTextStream &	operator<< (QTextStream &os, const Quaternion &q)
QTextStream &	operator<< (QTextStream &os, const mat3 &m)
QTextStream &	operator<< (QTextStream &os, const position &p)
QTextStream &	operator<< (QTextStream &os, const vec3 &v)
QTextStream &	operator>> (QTextStream &is, transf &tr)
QTextStream &	operator>> (QTextStream &is, Quaternion &q)
QTextStream &	operator>> (QTextStream &is, mat3 &m)
QTextStream &	operator>> (QTextStream &is, position &p)
QTextStream &	operator>> (QTextStream &is, vec3 &v)
int	readTransRotFromQTextStream (QTextStream &is, transf &tr)

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Detailed Description

Prototypes of QTextStream input and output operators for various matrices and vectors.

Definition in file matvecIO.h.

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Define Documentation

#define _MATVECIO_H_

Definition at line 52 of file matvecIO.h.

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Function Documentation

QTextStream& operator<<	(	QTextStream &	os,
		const transf &	tr
	)

Writes a transf to a QTextStream in the format "(qw qx qy qz)[x y z]".

Definition at line 171 of file matvecIO.cpp.

QTextStream& operator<<	(	QTextStream &	os,
		const Quaternion &	q
	)

Writes a quaternion to a QTextStream in the format "(qw qx qy qz)".

Definition at line 142 of file matvecIO.cpp.

QTextStream& operator<<	(	QTextStream &	os,
		const mat3 &	m
	)

Writes a mat3 to a QTextStream in the format:

  [m1,1 m1,2 m1,3]
  [m2,1 m2,2 m2,3]
  [m3,1 m3,2 m3,3]
  

Definition at line 114 of file matvecIO.cpp.

QTextStream& operator<<	(	QTextStream &	os,
		const position &	p
	)

Writes a position to a QTextStream in the format "[x y z]".

Definition at line 80 of file matvecIO.cpp.

QTextStream& operator<<	(	QTextStream &	os,
		const vec3 &	v
	)

Writes a vec3 to a QTextStream in the format "[x y z]".

Definition at line 54 of file matvecIO.cpp.

QTextStream& operator>>	(	QTextStream &	is,
		transf &	tr
	)

Reads a transf from a QTextStream. The format should be "(qw qx qy qz)[x y z]", where the 4 vector is a quaternion describing the rotation and the 3 vector is a position.

Definition at line 156 of file matvecIO.cpp.

QTextStream& operator>>	(	QTextStream &	is,
		Quaternion &	q
	)

Reads a Quaternion from a QTextStream. The format should be "(qw qx qy qz)".

Definition at line 129 of file matvecIO.cpp.

QTextStream& operator>>	(	QTextStream &	is,
		mat3 &	m
	)

Reads a mat3 from a QTextStream. The format should be:

  [m1,1 m1,2 m1,3]
  [m2,1 m2,2 m2,3]
  [m3,1 m3,2 m3,3]
  

Definition at line 97 of file matvecIO.cpp.

QTextStream& operator>>	(	QTextStream &	is,
		position &	p
	)

Reads a position from a QTextStream. The format should be "[x y z]".

Definition at line 66 of file matvecIO.cpp.

QTextStream& operator>>	(	QTextStream &	is,
		vec3 &	v
	)

Reads a vec3 from a QTextStream. The format should be "[x y z]".

Definition at line 40 of file matvecIO.cpp.

int readTransRotFromQTextStream	(	QTextStream &	stream,
		transf &	tr
	)

Reads a transform from a QTextStream that could be in a number of possible formats. The first character of the line determines the format:

• "T" means a full transform read as (qw qx qy qz)[x y z]
• "R" means a rotation matrix read in as a mat3
• "t" means a translation read in as x y z
• "r" means a rotation about a coordinate axis. The angle and then a character denoting the axis ("x", "y", or "z") is read in. If the second character in the line is also an "r" then the angle is assumed to be in radians, otherwise it is in degrees.

The total transform starts as the identitiy, and after a transform from a line is read, it is multipled to the total. This continues until the first charater of a line is not one of the above 4 characters. The total transform is returned in tr. FAILURE is returned if a formatting error is encountered, otherwise SUCCESS is returned.

Definition at line 194 of file matvecIO.cpp.