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Namespaces | |
namespace | KDL |
Functions | |
std::ostream & | KDL::operator<< (std::ostream &os, const Vector &v) |
std::ostream & | KDL::operator<< (std::ostream &os, const Twist &v) |
std::ostream & | KDL::operator<< (std::ostream &os, const Wrench &v) |
std::ostream & | KDL::operator<< (std::ostream &os, const Rotation &R) |
std::ostream & | KDL::operator<< (std::ostream &os, const Frame &T) |
std::ostream & | KDL::operator<< (std::ostream &os, const Vector2 &v) |
std::ostream & | KDL::operator<< (std::ostream &os, const Rotation2 &R) |
std::ostream & | KDL::operator<< (std::ostream &os, const Frame2 &T) |
std::istream & | KDL::operator>> (std::istream &is, Vector &v) |
std::istream & | KDL::operator>> (std::istream &is, Twist &v) |
std::istream & | KDL::operator>> (std::istream &is, Wrench &v) |
std::istream & | KDL::operator>> (std::istream &is, Rotation &r) |
std::istream & | KDL::operator>> (std::istream &is, Frame &T) |
std::istream & | KDL::operator>> (std::istream &is, Vector2 &v) |
std::istream & | KDL::operator>> (std::istream &is, Rotation2 &r) |
std::istream & | KDL::operator>> (std::istream &is, Frame2 &T) |
Defines routines for I/O of Frame and related objects.
// Spaces, tabs and newlines do not have any importance. // Comments are allowed C-style,C++-style, make/perl/csh -style // Description of the I/O : // Vector : OUTPUT : e.g. [10,20,30] // INPUT : // 1) [10,20,30] // 2) Zero // Twist : e.g. [1,2,3,4,5,6] // where [1,2,3] is velocity vector // where [4,5,6] is rotational velocity vector // Wrench : e.g. [1,2,3,4,5,6] // where [1,2,3] represents a force vector // where [4,5,6] represents a torque vector // Rotation : output : // [1,2,3; // 4,5,6; // 7,8,9] cfr definition of Rotation object. // input : // 1) like the output // 2) EulerZYX,EulerZYZ,RPY word followed by a vector, e.g. : // Eulerzyx[10,20,30] // (ANGLES are always expressed in DEGREES for I/O) // (ANGELS are always expressed in RADIANS for internal representation) // 3) Rot [1,2,3] [20] Rotates around axis [1,2,3] with an angle // of 20 degrees. // 4) Identity returns identity rotation matrix. // Frames : output : [ Rotationmatrix positionvector ] // e.g. [ [1,0,0;0,1,0;0,0,1] [1,2,3] ] // Input : // 1) [ Rotationmatrix positionvector ] // 2) DH [ 10,10,50,30] Denavit-Hartenberg representation // ( is in fact not the representation of a Frame, but more // limited, cfr. documentation of Frame object.) //
Definition in file frames_io.hpp.