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00022 #ifndef KDL_KINFAM_IO_HPP
00023 #define KDL_KINFAM_IO_HPP
00024
00025 #include <iostream>
00026 #include <fstream>
00027
00028 #include "joint.hpp"
00029 #include "segment.hpp"
00030 #include "chain.hpp"
00031 #include "jntarray.hpp"
00032 #include "jacobian.hpp"
00033 #include "tree.hpp"
00034 #include "jntspaceinertiamatrix.hpp"
00035
00036 namespace KDL {
00037 std::ostream& operator <<(std::ostream& os, const Joint& joint);
00038 std::istream& operator >>(std::istream& is, Joint& joint);
00039 std::ostream& operator <<(std::ostream& os, const Segment& segment);
00040 std::istream& operator >>(std::istream& is, Segment& segment);
00041 std::ostream& operator <<(std::ostream& os, const Chain& chain);
00042 std::istream& operator >>(std::istream& is, Chain& chain);
00043
00044 std::ostream& operator <<(std::ostream& os, const Tree& tree);
00045 std::istream& operator >>(std::istream& is, Tree& tree);
00046
00047 std::ostream& operator <<(std::ostream& os, SegmentMap::const_iterator it);
00048
00049 std::ostream& operator <<(std::ostream& os, const JntArray& array);
00050 std::istream& operator >>(std::istream& is, JntArray& array);
00051 std::ostream& operator <<(std::ostream& os, const Jacobian& jac);
00052 std::istream& operator >>(std::istream& is, Jacobian& jac);
00053 std::ostream& operator <<(std::ostream& os, const JntSpaceInertiaMatrix& jntspaceinertiamatrix);
00054 std::istream& operator >>(std::istream& is, JntSpaceInertiaMatrix& jntspaceinertiamatrix);
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00073 }
00074 #endif
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