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00076 #ifndef FRAMES_IO_H
00077 #define FRAMES_IO_H
00078
00079 #include "utilities/utility_io.h"
00080 #include "frames.hpp"
00081 #include "jntarray.hpp"
00082 #include "jacobian.hpp"
00083
00084 namespace KDL {
00085
00088
00089
00090
00091 std::ostream& operator << (std::ostream& os,const Vector& v);
00092 std::ostream& operator << (std::ostream& os,const Rotation& R);
00093 std::ostream& operator << (std::ostream& os,const Frame& T);
00094 std::ostream& operator << (std::ostream& os,const Twist& T);
00095 std::ostream& operator << (std::ostream& os,const Wrench& T);
00096 std::ostream& operator << (std::ostream& os,const Vector2& v);
00097 std::ostream& operator << (std::ostream& os,const Rotation2& R);
00098 std::ostream& operator << (std::ostream& os,const Frame2& T);
00099
00100
00101
00102 std::istream& operator >> (std::istream& is,Vector& v);
00103 std::istream& operator >> (std::istream& is,Rotation& R);
00104 std::istream& operator >> (std::istream& is,Frame& T);
00105 std::istream& operator >> (std::istream& os,Twist& T);
00106 std::istream& operator >> (std::istream& os,Wrench& T);
00107 std::istream& operator >> (std::istream& is,Vector2& v);
00108 std::istream& operator >> (std::istream& is,Rotation2& R);
00109 std::istream& operator >> (std::istream& is,Frame2& T);
00110
00111
00112 }
00113
00114 #endif