Go to the documentation of this file.00001
00002
00003
00004
00005
00006
00007
00008
00009
00010
00011
00012
00013
00014
00015
00016
00017
00018 #ifndef KDL_FRAMESVEL_IO
00019 #define KDL_FRAMESVEL_IO
00020
00021 #include "utilities/utility_io.h"
00022 #include "utilities/rall1d_io.h"
00023
00024 #include "framevel_io.hpp"
00025 #include "frames_io.hpp"
00026
00027 namespace KDL {
00028
00029
00030 inline std::ostream& operator << (std::ostream& os,const VectorVel& r) {
00031 os << "{" << r.p << "," << r.v << "}" << std::endl;
00032 return os;
00033 }
00034
00035 inline std::ostream& operator << (std::ostream& os,const RotationVel& r) {
00036 os << "{" << std::endl << r.R << "," <<std::endl << r.w << std::endl << "}" << std::endl;
00037 return os;
00038 }
00039
00040
00041 inline std::ostream& operator << (std::ostream& os,const FrameVel& r) {
00042 os << "{" << std::endl << r.M << "," << std::endl << r.p << std::endl << "}" << std::endl;
00043 return os;
00044 }
00045
00046 inline std::ostream& operator << (std::ostream& os,const TwistVel& r) {
00047 os << "{" << std::endl << r.vel << "," << std::endl << r.rot << std::endl << "}" << std::endl;
00048 return os;
00049 }
00050
00051
00052 }
00053
00054
00055
00056 #endif