72 #ifdef KDL_ROTATION_PROPERTIES_RPY 81 # ifdef KDL_ROTATION_PROPERTIES_EULER 84 os <<
"[EULERZYX]"<<endl;
91 for (
int i=0;i<=2;i++) {
96 os <<
";"<< std::endl <<
" ";
107 os <<
"[" << T.
M << std::endl<< T.
p <<
"]";
130 {
IOTrace(
"Stream input Vector (vector or ZERO)");
133 if (strlen(storage)==0) {
144 if (strcmp(storage,
"ZERO")==0) {
153 {
IOTrace(
"Stream input Twist");
172 {
IOTrace(
"Stream input Wrench");
191 {
IOTrace(
"Stream input Rotation (Matrix or EULERZYX, EULERZYZ,RPY, ROT, IDENTITY)");
194 if (strlen(storage)==0) {
196 for (
int i=0;i<3;i++) {
211 if (strcmp(storage,
"EULERZYX")==0) {
218 if (strcmp(storage,
"EULERZYZ")==0) {
225 if (strcmp(storage,
"RPY")==0) {
232 if (strcmp(storage,
"ROT")==0) {
242 if (strcmp(storage,
"IDENTITY")==0) {
252 {
IOTrace(
"Stream input Frame (Rotation,Vector) or DH[...]");
255 if (strlen(storage)==0) {
263 if (strcmp(storage,
"DH")==0) {
264 double a,alpha,d,theta;
283 {
IOTrace(
"Stream input Vector2");
293 {
IOTrace(
"Stream input Rotation2");
303 {
IOTrace(
"Stream input Frame2");
Rotation2 M
Orientation of the Frame.
const double rad2deg
the value 180/pi
represents rotations in 3 dimensional space.
void GetEulerZYX(double &Alfa, double &Beta, double &Gamma) const
void IOTracePop()
pops a description of the IO-stack
void GetRPY(double &roll, double &pitch, double &yaw) const
void EatEnd(std::istream &is, int delim)
void EatWord(std::istream &is, const char *delim, char *storage, int maxsize)
Vector vel
The velocity of that point.
static Rotation2 Rot(double angle)
The Rot... static functions give the value of the appropriate rotation matrix bac.
std::istream & operator>>(std::istream &is, Vector &v)
void Eat(std::istream &is, int delim)
Vector torque
Torque that is applied at the origin of the current ref frame.
std::ostream & operator<<(std::ostream &os, const VectorAcc &r)
Rotation M
Orientation of the Frame.
static Rotation EulerZYX(double Alfa, double Beta, double Gamma)
represents both translational and rotational velocities.
double GetRot() const
Gets the angle (in radians)
A concrete implementation of a 3 dimensional vector class.
Vector rot
The rotational velocity of that point.
static Rotation RPY(double roll, double pitch, double yaw)
static Frame DH(double a, double alpha, double d, double theta)
Vector p
origine of the Frame
Vector force
Force that is applied at the origin of the current ref frame.
static Rotation EulerZYZ(double Alfa, double Beta, double Gamma)
represents a frame transformation in 3D space (rotation + translation)
Vector2 p
origine of the Frame
static Rotation Identity()
Gives back an identity rotaton matrix.
represents both translational and rotational acceleration.
void IOTrace(const std::string &description)
static Rotation Rot(const Vector &rotvec, double angle)
const double deg2rad
the value pi/180