kinfam_io.hpp
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1 // Copyright (C) 2007 Ruben Smits <ruben dot smits at mech dot kuleuven dot be>
2 
3 // Version: 1.0
4 // Author: Ruben Smits <ruben dot smits at mech dot kuleuven dot be>
5 // Maintainer: Ruben Smits <ruben dot smits at mech dot kuleuven dot be>
6 // URL: http://www.orocos.org/kdl
7 
8 // This library is free software; you can redistribute it and/or
9 // modify it under the terms of the GNU Lesser General Public
10 // License as published by the Free Software Foundation; either
11 // version 2.1 of the License, or (at your option) any later version.
12 
13 // This library is distributed in the hope that it will be useful,
14 // but WITHOUT ANY WARRANTY; without even the implied warranty of
15 // MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
16 // Lesser General Public License for more details.
17 
18 // You should have received a copy of the GNU Lesser General Public
19 // License along with this library; if not, write to the Free Software
20 // Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
21 
22 #ifndef KDL_KINFAM_IO_HPP
23 #define KDL_KINFAM_IO_HPP
24 
25 #include <iostream>
26 #include <fstream>
27 
28 #include "joint.hpp"
29 #include "segment.hpp"
30 #include "chain.hpp"
31 #include "jntarray.hpp"
32 #include "jacobian.hpp"
33 #include "tree.hpp"
35 
36 namespace KDL {
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);
43 
44 std::ostream& operator <<(std::ostream& os, const Tree& tree);
45 std::istream& operator >>(std::istream& is, Tree& tree);
46 
47 std::ostream& operator <<(std::ostream& os, SegmentMap::const_iterator it);
48 
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);
55 
56 //Builds a string containing the "branches" of a Tree using indentation or another
57 //user-supplied pattern, so that it is easier to visualize its structure. It is
58 //also possible to specify a "preamble", ie, a string to be included at the
59 //beginning of each new line.
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);
62 
63  /*
64 template<typename T>
65 std::ostream& operator<<(std::ostream& os, const std::vector<T>& vec) {
66  os << "[";
67  for (unsigned int i = 0; i < vec.size(); i++)
68  os << vec[i] << " ";
69  os << "]";
70  return os;
71 }
72 ;
73 
74 template<typename T>
75 std::istream& operator >>(std::istream& is, std::vector<T>& vec) {
76  return is;
77 }
78 ;
79  */
80 }
81 #endif
std::istream & operator>>(std::istream &is, Vector &v)
Definition: frames_io.cpp:129
std::string tree2str(const SegmentMap::const_iterator it, const std::string &separator, const std::string &preamble, unsigned int level)
Definition: kinfam_io.cpp:117
std::ostream & operator<<(std::ostream &os, const VectorAcc &r)
Definition: frameacc_io.hpp:32


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autogenerated on Tue Sep 22 2020 03:17:50