orocos_kdl
src
kinfam_io.hpp
Go to the documentation of this file.
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// Copyright (C) 2007 Ruben Smits <ruben dot smits at mech dot kuleuven dot be>
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// Version: 1.0
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// Author: Ruben Smits <ruben dot smits at mech dot kuleuven dot be>
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// Maintainer: Ruben Smits <ruben dot smits at mech dot kuleuven dot be>
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// URL: http://www.orocos.org/kdl
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// This library is free software; you can redistribute it and/or
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// modify it under the terms of the GNU Lesser General Public
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// License as published by the Free Software Foundation; either
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// version 2.1 of the License, or (at your option) any later version.
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// This library is distributed in the hope that it will be useful,
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// but WITHOUT ANY WARRANTY; without even the implied warranty of
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// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
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// Lesser General Public License for more details.
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// You should have received a copy of the GNU Lesser General Public
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// License along with this library; if not, write to the Free Software
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// Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
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#ifndef KDL_KINFAM_IO_HPP
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#define KDL_KINFAM_IO_HPP
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#include <
iostream
>
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#include <
fstream
>
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#include "
joint.hpp
"
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#include "
segment.hpp
"
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#include "
chain.hpp
"
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#include "
jntarray.hpp
"
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#include "
jacobian.hpp
"
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#include "
tree.hpp
"
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#include "
jntspaceinertiamatrix.hpp
"
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namespace
KDL
{
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std::ostream
&
operator <<
(
std::ostream
& os,
const
Joint& joint);
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std::istream
&
operator >>
(
std::istream
& is, Joint& joint);
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std::ostream
&
operator <<
(
std::ostream
& os,
const
Segment& segment);
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std::istream
&
operator >>
(
std::istream
& is, Segment& segment);
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std::ostream
&
operator <<
(
std::ostream
& os,
const
Chain& chain);
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std::istream
&
operator >>
(
std::istream
& is, Chain& chain);
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std::ostream
&
operator <<
(
std::ostream
& os,
const
Tree& tree);
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std::istream
&
operator >>
(
std::istream
& is, Tree& tree);
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std::ostream
&
operator <<
(
std::ostream
& os, SegmentMap::const_iterator it);
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std::ostream
&
operator <<
(
std::ostream
& os,
const
JntArray& array);
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std::istream
&
operator >>
(
std::istream
& is, JntArray& array);
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std::ostream
&
operator <<
(
std::ostream
& os,
const
Jacobian& jac);
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std::istream
&
operator >>
(
std::istream
& is, Jacobian& jac);
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std::ostream
&
operator <<
(
std::ostream
& os,
const
JntSpaceInertiaMatrix& jntspaceinertiamatrix);
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std::istream
&
operator >>
(
std::istream
& is, JntSpaceInertiaMatrix& jntspaceinertiamatrix);
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//Builds a string containing the "branches" of a Tree using indentation or another
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//user-supplied pattern, so that it is easier to visualize its structure. It is
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//also possible to specify a "preamble", ie, a string to be included at the
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//beginning of each new line.
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std::string
tree2str
(
const
Tree& tree,
const
std::string
& separator=
" "
,
const
std::string
& preamble=
""
);
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std::string
tree2str
(
const
SegmentMap::const_iterator it,
const
std::string
& separator=
" "
,
const
std::string
& preamble=
""
,
unsigned
int
level=0);
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/*
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template<typename T>
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std::ostream& operator<<(std::ostream& os, const std::vector<T>& vec) {
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os << "[";
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for (unsigned int i = 0; i < vec.size(); i++)
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os << vec[i] << " ";
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os << "]";
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return os;
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}
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;
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template<typename T>
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std::istream& operator >>(std::istream& is, std::vector<T>& vec) {
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return is;
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}
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;
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*/
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}
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#endif
jntspaceinertiamatrix.hpp
chain.hpp
KDL::tree2str
std::string tree2str(const SegmentMap::const_iterator it, const std::string &separator, const std::string &preamble, unsigned int level)
Definition:
kinfam_io.cpp:117
fstream
std::string
jntarray.hpp
iostream
KDL
Definition:
kukaLWR_DHnew.cpp:25
std::ostream
tree.hpp
KDL::operator>>
std::istream & operator>>(std::istream &is, Vector &v)
Definition:
frames_io.cpp:154
KDL::operator<<
std::ostream & operator<<(std::ostream &os, const VectorAcc &r)
Definition:
frameacc_io.hpp:49
jacobian.hpp
std::istream
joint.hpp
segment.hpp
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