database_helper_classes.cpp

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#include "household_objects_database/database_helper_classes.h"

namespace household_objects_database {

std::istream& operator >> (std::istream &str, DatabasePose &dhp)
{
  std::vector<double> vec;
  database_interface::operator >> (str,vec);
  if (str.fail()) return str;
  if (vec.size() != 7)
  {
    str.clear(std::ios::failbit);
    return str;
  }
  dhp.pose_.position.x = vec[0]; dhp.pose_.position.y = vec[1]; dhp.pose_.position.z = vec[2];
  dhp.pose_.orientation.x = vec[4]; dhp.pose_.orientation.y = vec[5]; dhp.pose_.orientation.z = vec[6];
  dhp.pose_.orientation.w = vec[3];
  return str;
}

std::ostream& operator << (std::ostream &str, const DatabasePose &dhp)
{
  std::vector<double> vec(7);
  vec[0] = dhp.pose_.position.x;   vec[1] = dhp.pose_.position.y;   vec[2] = dhp.pose_.position.z; 
  vec[4] = dhp.pose_.orientation.x; vec[5] = dhp.pose_.orientation.y; vec[6] = dhp.pose_.orientation.z; 
  vec[3] = dhp.pose_.orientation.w; 
  return database_interface::operator << (str,vec);
}

std::istream& operator >> (std::istream &str, DatabaseHandPosture &dhp)
{
  std::vector<double> vec;
  database_interface::operator >> (str,vec);
  if (str.fail()) return str;
  if (vec.empty())
  {
    str.clear(std::ios::failbit);
    return str;
  }
  dhp.joint_angles_.clear();
  dhp.joint_angles_.insert( dhp.joint_angles_.begin(), vec.begin(), vec.end() );
  return str;
}

std::ostream& operator << (std::ostream &str, const DatabaseHandPosture &dhp)
{
  std::vector<double> vec;
  vec.insert( vec.begin(), dhp.joint_angles_.begin(), dhp.joint_angles_.end() );
  return database_interface::operator << (str,vec);
}

} //namespace