frames_io.hpp

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/***************************************************************************
                        frames_io.h -  description
                       -------------------------
    begin                : June 2006
    copyright            : (C) 2006 Erwin Aertbelien
    email                : firstname.lastname@mech.kuleuven.ac.be

 History (only major changes)( AUTHOR-Description ) :

 Ruben Smits - Added output for jacobian and jntarray 06/2007

 ***************************************************************************
 *   This library is free software; you can redistribute it and/or         *
 *   modify it under the terms of the GNU Lesser General Public            *
 *   License as published by the Free Software Foundation; either          *
 *   version 2.1 of the License, or (at your option) any later version.    *
 *                                                                         *
 *   This library is distributed in the hope that it will be useful,       *
 *   but WITHOUT ANY WARRANTY; without even the implied warranty of        *
 *   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU     *
 *   Lesser General Public License for more details.                       *
 *                                                                         *
 *   You should have received a copy of the GNU Lesser General Public      *
 *   License along with this library; if not, write to the Free Software   *
 *   Foundation, Inc., 59 Temple Place,                                    *
 *   Suite 330, Boston, MA  02111-1307  USA                                *
 *                                                                         *
 ***************************************************************************/
#ifndef FRAMES_IO_H
#define FRAMES_IO_H

#include "utilities/utility_io.h"
#include "frames.hpp"
#include "jntarray.hpp"
#include "jacobian.hpp"

namespace KDL {



    // I/O to C++ stream.
    std::ostream& operator << (std::ostream& os,const Vector& v);
    std::ostream& operator << (std::ostream& os,const Rotation& R);
    std::ostream& operator << (std::ostream& os,const Frame& T);
    std::ostream& operator << (std::ostream& os,const Twist& T);
    std::ostream& operator << (std::ostream& os,const Wrench& T);
    std::ostream& operator << (std::ostream& os,const Vector2& v);
    std::ostream& operator << (std::ostream& os,const Rotation2& R);
    std::ostream& operator << (std::ostream& os,const Frame2& T);



    std::istream& operator >> (std::istream& is,Vector& v);
    std::istream& operator >> (std::istream& is,Rotation& R);
    std::istream& operator >> (std::istream& is,Frame& T);
    std::istream& operator >> (std::istream& os,Twist& T);
    std::istream& operator >> (std::istream& os,Wrench& T);
    std::istream& operator >> (std::istream& is,Vector2& v);
    std::istream& operator >> (std::istream& is,Rotation2& R);
    std::istream& operator >> (std::istream& is,Frame2& T);


} // namespace Frame

#endif