PrintHelpers.cpp

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#include <grasp_planning_graspit/PrintHelpers.h>

std::ostream& operator<<(std::ostream& o, const Eigen::Vector3f& v)
{
    o << "[" << v[0] << ", " << v[1] << ", " << v[2] << "]";
    return o;
}


std::ostream& operator<<(std::ostream& o, const Eigen::Vector3d& v)
{
    o << "[" << v[0] << ", " << v[1] << ", " << v[2] << "]";
    return o;
}

std::ostream& operator<<(std::ostream& o, const Eigen::Transform<double, 3, Eigen::Affine>& t)
{
    //  o<<"T: trans="<<t.translation()<<" rot="<<Eigen::Quaterniond(t.rotation());
    Eigen::AngleAxisd ax(t.rotation());
    o << "T: trans = " << Eigen::Vector3d(t.translation()) <<
      " rot = " << ax.angle() << " (angle) / " << ax.axis() << " (axis)";
    return o;
}

std::ostream& operator<<(std::ostream& o, const Eigen::Matrix4d& m)
{
    o << m(0, 0) << "," << m(0, 1) << "," << m(0, 2) << "," << m(0, 3) << "," <<
      m(1, 0) << "," << m(1, 1) << "," << m(1, 2) << "," << m(1, 3) << "," <<
      m(2, 0) << "," << m(2, 1) << "," << m(2, 2) << "," << m(2, 3) << "," <<
      m(3, 0) << "," << m(3, 1) << "," << m(3, 2) << "," << m(3, 3);
    return o;
}