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00019 #ifndef RRFRAMES_IO
00020 #define RRFRAMES_IO
00021
00022 #include "utilities/utility_io.h"
00023 #include "utilities/rall2d_io.h"
00024
00025 #include "frames_io.hpp"
00026 #include "frameacc.hpp"
00027
00028 namespace KDL {
00029
00030
00031
00032 inline std::ostream& operator << (std::ostream& os,const VectorAcc& r) {
00033 os << "{" << r.p << "," << r.v << "," << r.dv << "}" << std::endl;
00034 return os;
00035 }
00036
00037 inline std::ostream& operator << (std::ostream& os,const RotationAcc& r) {
00038 os << "{" << std::endl << r.R << "," << std::endl << r.w <<
00039 "," << std::endl << r.dw << std::endl << "}" << std::endl;
00040 return os;
00041 }
00042
00043
00044 inline std::ostream& operator << (std::ostream& os,const FrameAcc& r) {
00045 os << "{" << std::endl << r.M << "," << std::endl << r.p << "}" << std::endl;
00046 return os;
00047 }
00048 inline std::ostream& operator << (std::ostream& os,const TwistAcc& r) {
00049 os << "{" << std::endl << r.vel << "," << std::endl << r.rot << std::endl << "}" << std::endl;
00050 return os;
00051 }
00052
00053
00054 }
00055
00056
00057
00058 #endif