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72 #ifdef KDL_ROTATION_PROPERTIES_RPY
81 # ifdef KDL_ROTATION_PROPERTIES_EULER
84 os <<
"[EULERZYX]"<<endl;
91 for (
int i=0;i<=2;i++) {
107 os <<
"[" << T.M <<
std::endl<< T.p <<
"]";
119 os <<
"[" << R.GetRot()*
rad2deg <<
"]";
130 {
IOTrace(
"Stream input Vector (vector or ZERO)");
133 if (strlen(storage)==0) {
144 if (strcmp(storage,
"ZERO")==0) {
149 throw Error_Frame_Vector_Unexpected_id();
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) {
247 throw Error_Frame_Rotation_Unexpected_id();
252 {
IOTrace(
"Stream input Frame (Rotation,Vector) or DH[...]");
263 if (
strcmp(storage,
"DH")==0) {
264 double a,alpha,d,theta;
278 throw Error_Frame_Frame_Unexpected_id();
283 {
IOTrace(
"Stream input Vector2");
293 {
IOTrace(
"Stream input Rotation2");
303 {
IOTrace(
"Stream input Frame2");
const double deg2rad
the value pi/180
static Rotation Identity()
Gives back an identity rotaton matrix.
void IOTrace(const std::string &description)
const double rad2deg
the value 180/pi
void EatEnd(std::istream &is, int delim)
static Rotation EulerZYZ(double Alfa, double Beta, double Gamma)
static Frame DH(double a, double alpha, double d, double theta)
std::istream & operator>>(std::istream &is, Vector &v)
void IOTracePop()
pops a description of the IO-stack
static Rotation EulerZYX(double Alfa, double Beta, double Gamma)
void EatWord(std::istream &is, const char *delim, char *storage, int maxsize)
static Rotation Rot(const Vector &rotvec, double angle)
std::ostream & operator<<(std::ostream &os, const VectorAcc &r)
static Rotation RPY(double roll, double pitch, double yaw)
void Eat(std::istream &is, int delim)