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kdl_install/include/kdl/frameacc_io.hpp

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+/*****************************************************************************
+ * \file
+ *      Defines I/O related routines to the FrameAccs classes defined in
+ *      FrameAccs.h
+ *
+ *  \author
+ *      Erwin Aertbelien, Div. PMA, Dep. of Mech. Eng., K.U.Leuven
+ *
+ *  \version
+ *      ORO_Geometry V0.2
+ *
+ *  \par History
+ *      - $log$
+ *
+ *  \par Release
+ *      $Id: rrframes_io.h,v 1.1.1.1 2002/08/26 14:14:21 rmoreas Exp $
+ *      $Name:  $
+ ****************************************************************************/
+#ifndef RRFRAMES_IO
+#define RRFRAMES_IO
+
+#include "utilities/utility_io.h"
+#include "utilities/rall2d_io.h"
+
+#include "frames_io.hpp"
+#include "frameacc.hpp"
+
+namespace KDL {
+
+
+// Output...
+inline std::ostream& operator << (std::ostream& os,const VectorAcc& r) {
+    os << "{" << r.p << "," << r.v << "," << r.dv << "}" << std::endl;
+    return os;
+}
+
+inline std::ostream& operator << (std::ostream& os,const RotationAcc& r) {
+    os << "{" << std::endl << r.R << "," << std::endl << r.w <<
+          "," << std::endl << r.dw << std::endl << "}" << std::endl;
+    return os;
+}
+
+
+inline std::ostream& operator << (std::ostream& os,const FrameAcc& r) {
+    os << "{" << std::endl << r.M << "," << std::endl << r.p << "}" << std::endl;
+    return os;
+}
+inline std::ostream& operator << (std::ostream& os,const TwistAcc& r) {
+    os << "{" << std::endl << r.vel << "," << std::endl << r.rot << std::endl << "}" << std::endl;
+    return os;
+}
+
+
+} // namespace Frame
+
+
+
+#endif