database_helper_classes.cpp
Go to the documentation of this file.
00001 /*********************************************************************
00002  * Software License Agreement (BSD License)
00003  *
00004  *  Copyright (c) 2009, Willow Garage, Inc.
00005  *  All rights reserved.
00006  *
00007  *  Redistribution and use in source and binary forms, with or without
00008  *  modification, are permitted provided that the following conditions
00009  *  are met:
00010  *
00011  *   * Redistributions of source code must retain the above copyright
00012  *     notice, this list of conditions and the following disclaimer.
00013  *   * Redistributions in binary form must reproduce the above
00014  *     copyright notice, this list of conditions and the following
00015  *     disclaimer in the documentation and/or other materials provided
00016  *     with the distribution.
00017  *   * Neither the name of the Willow Garage nor the names of its
00018  *     contributors may be used to endorse or promote products derived
00019  *     from this software without specific prior written permission.
00020  *
00021  *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
00022  *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
00023  *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
00024  *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
00025  *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
00026  *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
00027  *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
00028  *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
00029  *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
00030  *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
00031  *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00032  *  POSSIBILITY OF SUCH DAMAGE.
00033  *********************************************************************/
00034 
00035 #include "household_objects_database/database_helper_classes.h"
00036 
00037 namespace household_objects_database {
00038 
00039 std::istream& operator >> (std::istream &str, DatabasePose &dhp)
00040 {
00041   std::vector<double> vec;
00042   database_interface::operator >> (str,vec);
00043   if (str.fail()) return str;
00044   if (vec.size() != 7)
00045   {
00046     str.clear(std::ios::failbit);
00047     return str;
00048   }
00049   dhp.pose_.position.x = vec[0]; dhp.pose_.position.y = vec[1]; dhp.pose_.position.z = vec[2];
00050   dhp.pose_.orientation.x = vec[4]; dhp.pose_.orientation.y = vec[5]; dhp.pose_.orientation.z = vec[6];
00051   dhp.pose_.orientation.w = vec[3];
00052   return str;
00053 }
00054 
00055 std::ostream& operator << (std::ostream &str, const DatabasePose &dhp)
00056 {
00057   std::vector<double> vec(7);
00058   vec[0] = dhp.pose_.position.x;   vec[1] = dhp.pose_.position.y;   vec[2] = dhp.pose_.position.z; 
00059   vec[4] = dhp.pose_.orientation.x; vec[5] = dhp.pose_.orientation.y; vec[6] = dhp.pose_.orientation.z; 
00060   vec[3] = dhp.pose_.orientation.w; 
00061   return database_interface::operator << (str,vec);
00062 }
00063 
00064 std::istream& operator >> (std::istream &str, DatabaseHandPosture &dhp)
00065 {
00066   std::vector<double> vec;
00067   database_interface::operator >> (str,vec);
00068   if (str.fail()) return str;
00069   if (vec.empty())
00070   {
00071     str.clear(std::ios::failbit);
00072     return str;
00073   }
00074   dhp.joint_angles_.clear();
00075   dhp.joint_angles_.insert( dhp.joint_angles_.begin(), vec.begin(), vec.end() );
00076   return str;
00077 }
00078 
00079 std::ostream& operator << (std::ostream &str, const DatabaseHandPosture &dhp)
00080 {
00081   std::vector<double> vec;
00082   vec.insert( vec.begin(), dhp.joint_angles_.begin(), dhp.joint_angles_.end() );
00083   return database_interface::operator << (str,vec);
00084 }
00085 
00086 } //namespace


household_objects_database
Author(s): Matei Ciocarlie, except for source files individually marked otherwise
autogenerated on Thu Aug 27 2015 13:24:23