62 std::ostream&
operator <<(std::ostream& os, SegmentMap::const_iterator root) {
77 for (
unsigned int i = 0; i < array.
rows(); i++)
89 for (
unsigned int i = 0; i < jac.
rows(); i++) {
90 for (
unsigned int j = 0; j < jac.
columns(); j++)
101 std::ostream&
operator <<(std::ostream& os,
const JntSpaceInertiaMatrix& jntspaceinertiamatrix) {
103 for (
unsigned int i = 0; i < jntspaceinertiamatrix.rows(); i++) {
104 for (
unsigned int j = 0; j < jntspaceinertiamatrix.columns(); j++)
112 std::istream&
operator >>(std::istream& is, JntSpaceInertiaMatrix& jntspaceinertiamatrix) {
117 std::string
tree2str(
const SegmentMap::const_iterator it,
const std::string& separator,
const std::string& preamble,
unsigned int level) {
118 std::stringstream out;
120 for(
unsigned int i=0; i<level; i++)
128 std::string
tree2str(
const Tree& tree,
const std::string& separator,
const std::string& preamble) {
const Segment & getSegment(unsigned int nr) const
This class encapsulates a simple segment, that is a "rigid body" (i.e., a frame and a rigid body...
unsigned int rows() const
#define GetTreeElementQNr(tree_element)
This class encapsulates a serial kinematic interconnection structure. It is built out of segments...
std::istream & operator>>(std::istream &is, Vector &v)
unsigned int getNrOfSegments() const
This class represents an fixed size array containing joint values of a KDL::Chain.
Frame getFrameToTip() const
std::string tree2str(const SegmentMap::const_iterator it, const std::string &separator, const std::string &preamble, unsigned int level)
std::ostream & operator<<(std::ostream &os, const VectorAcc &r)
#define GetTreeElementChildren(tree_element)
unsigned int columns() const
Vector JointOrigin() const
const std::string & getName() const
const std::string & getName() const
const Joint & getJoint() const
SegmentMap::const_iterator getRootSegment() const
This class encapsulates a simple joint, that is with one parameterized degree of freedom and with sca...
const std::string getTypeName() const
This class encapsulates a tree kinematic interconnection structure. It is built out of segments...
unsigned int rows() const