22 #ifndef KDL_KINFAM_IO_HPP 23 #define KDL_KINFAM_IO_HPP 37 std::ostream&
operator <<(std::ostream& os,
const Joint& joint);
38 std::istream&
operator >>(std::istream& is, Joint& joint);
39 std::ostream&
operator <<(std::ostream& os,
const Segment& segment);
40 std::istream&
operator >>(std::istream& is, Segment& segment);
41 std::ostream&
operator <<(std::ostream& os,
const Chain& chain);
42 std::istream&
operator >>(std::istream& is, Chain& chain);
44 std::ostream&
operator <<(std::ostream& os,
const Tree& tree);
45 std::istream&
operator >>(std::istream& is, Tree& tree);
47 std::ostream&
operator <<(std::ostream& os, SegmentMap::const_iterator it);
49 std::ostream&
operator <<(std::ostream& os,
const JntArray& array);
50 std::istream&
operator >>(std::istream& is, JntArray& array);
51 std::ostream&
operator <<(std::ostream& os,
const Jacobian& jac);
52 std::istream&
operator >>(std::istream& is, Jacobian& jac);
53 std::ostream&
operator <<(std::ostream& os,
const JntSpaceInertiaMatrix& jntspaceinertiamatrix);
54 std::istream&
operator >>(std::istream& is, JntSpaceInertiaMatrix& jntspaceinertiamatrix);
60 std::string
tree2str(
const Tree& tree,
const std::string& separator=
" ",
const std::string& preamble=
"");
61 std::string
tree2str(
const SegmentMap::const_iterator it,
const std::string& separator=
" ",
const std::string& preamble=
"",
unsigned int level=0);
std::istream & operator>>(std::istream &is, Vector &v)
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)