frameacc_io.hpp
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1 /*****************************************************************************
2  * \file
3  * Defines I/O related routines to the FrameAccs classes defined in
4  * FrameAccs.h
5  *
6  * \author
7  * Erwin Aertbelien, Div. PMA, Dep. of Mech. Eng., K.U.Leuven
8  *
9  * \version
10  * ORO_Geometry V0.2
11  *
12  * \par History
13  * - $log$
14  *
15  * \par Release
16  * $Id: rrframes_io.h,v 1.1.1.1 2002/08/26 14:14:21 rmoreas Exp $
17  * $Name: $
18  ****************************************************************************/
19 #ifndef RRFRAMES_IO
20 #define RRFRAMES_IO
21 
22 #include "utilities/utility_io.h"
23 #include "utilities/rall2d_io.h"
24 
25 #include "frames_io.hpp"
26 #include "frameacc.hpp"
27 
28 namespace KDL {
29 
30 
31 // Output...
32 inline std::ostream& operator << (std::ostream& os,const VectorAcc& r) {
33  os << "{" << r.p << "," << r.v << "," << r.dv << "}" << std::endl;
34  return os;
35 }
36 
37 inline std::ostream& operator << (std::ostream& os,const RotationAcc& r) {
38  os << "{" << std::endl << r.R << "," << std::endl << r.w <<
39  "," << std::endl << r.dw << std::endl << "}" << std::endl;
40  return os;
41 }
42 
43 
44 inline std::ostream& operator << (std::ostream& os,const FrameAcc& r) {
45  os << "{" << std::endl << r.M << "," << std::endl << r.p << "}" << std::endl;
46  return os;
47 }
48 inline std::ostream& operator << (std::ostream& os,const TwistAcc& r) {
49  os << "{" << std::endl << r.vel << "," << std::endl << r.rot << std::endl << "}" << std::endl;
50  return os;
51 }
52 
53 
54 } // namespace Frame
55 
56 
57 
58 #endif
RotationAcc M
Rotation,angular velocity, and angular acceleration of frame.
Definition: frameacc.hpp:168
Vector dw
angular acceration vector
Definition: frameacc.hpp:115
Vector dv
acceleration vector
Definition: frameacc.hpp:66
Vector w
angular velocity vector
Definition: frameacc.hpp:114
std::ostream & operator<<(std::ostream &os, const VectorAcc &r)
Definition: frameacc_io.hpp:32
VectorAcc rot
rotational velocity and its 1st and 2nd derivative
Definition: frameacc.hpp:213
Rotation R
rotation matrix
Definition: frameacc.hpp:113
Vector v
velocity vector
Definition: frameacc.hpp:65
Vector p
position vector
Definition: frameacc.hpp:64
VectorAcc p
Translation, velocity and acceleration of origin.
Definition: frameacc.hpp:169
VectorAcc vel
translational velocity and its 1st and 2nd derivative
Definition: frameacc.hpp:212


orocos_kdl
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autogenerated on Mon Oct 19 2020 03:19:17