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kdl_install/include/kdl/frames_io.hpp

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+/***************************************************************************
+                        frames_io.h -  description
+                       -------------------------
+    begin                : June 2006
+    copyright            : (C) 2006 Erwin Aertbelien
+    email                : firstname.lastname@mech.kuleuven.ac.be
+
+ History (only major changes)( AUTHOR-Description ) :
+
+ Ruben Smits - Added output for jacobian and jntarray 06/2007
+
+ ***************************************************************************
+ *   This library is free software; you can redistribute it and/or         *
+ *   modify it under the terms of the GNU Lesser General Public            *
+ *   License as published by the Free Software Foundation; either          *
+ *   version 2.1 of the License, or (at your option) any later version.    *
+ *                                                                         *
+ *   This library is distributed in the hope that it will be useful,       *
+ *   but WITHOUT ANY WARRANTY; without even the implied warranty of        *
+ *   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU     *
+ *   Lesser General Public License for more details.                       *
+ *                                                                         *
+ *   You should have received a copy of the GNU Lesser General Public      *
+ *   License along with this library; if not, write to the Free Software   *
+ *   Foundation, Inc., 59 Temple Place,                                    *
+ *   Suite 330, Boston, MA  02111-1307  USA                                *
+ *                                                                         *
+ ***************************************************************************/
+/**
+//
+// \file
+//      Defines routines for I/O of Frame and related objects.
+// \verbatim
+//      Spaces, tabs and newlines do not have any importance.
+//      Comments are allowed C-style,C++-style, make/perl/csh -style
+//      Description of the I/O :
+//        Vector  : OUTPUT : e.g. [10,20,30]
+//                  INPUT  :
+//                         1) [10,20,30]
+//                         2) Zero
+//        Twist   : e.g. [1,2,3,4,5,6]
+//           where [1,2,3] is velocity vector
+//           where [4,5,6] is rotational velocity vector
+//        Wrench  : e.g. [1,2,3,4,5,6]
+//           where [1,2,3] represents a force vector
+//           where [4,5,6] represents a torque vector
+//        Rotation : output :
+//                 [1,2,3;
+//                  4,5,6;
+//                  7,8,9] cfr definition of Rotation object.
+//                  input :
+//                    1) like the output
+//                    2) EulerZYX,EulerZYZ,RPY word followed by a vector, e.g. :
+//                        Eulerzyx[10,20,30]
+//                   (ANGLES are always expressed in DEGREES for I/O)
+//                   (ANGELS are always expressed in RADIANS for internal representation)
+//                    3) Rot [1,2,3] [20]  Rotates around axis [1,2,3] with an angle
+//                   of 20 degrees.
+//                    4) Identity          returns identity rotation matrix.
+//       Frames   : output : [ Rotationmatrix positionvector ]
+//                   e.g. [ [1,0,0;0,1,0;0,0,1] [1,2,3] ]
+//                  Input  :
+//                     1) [ Rotationmatrix positionvector ]
+//                     2) DH [ 10,10,50,30]  Denavit-Hartenberg representation
+//                     ( is in fact not the representation of a Frame, but more
+//                       limited, cfr. documentation of Frame object.)
+//  \endverbatim
+//
+// \warning
+//   You can use iostream.h or iostream header files for file I/O,
+//   if one declares the define WANT_STD_IOSTREAM then the standard C++
+//   iostreams headers are included instead of the compiler-dependent version
+//
+ *
+ ****************************************************************************/
+#ifndef FRAMES_IO_H
+#define FRAMES_IO_H
+
+#include "utilities/utility_io.h"
+#include "frames.hpp"
+#include "jntarray.hpp"
+#include "jacobian.hpp"
+
+namespace KDL {
+
+    //! width to be used when printing variables out with frames_io.h
+    //! global variable, can be changed.
+
+
+    // I/O to C++ stream.
+    std::ostream& operator << (std::ostream& os,const Vector& v);
+    std::ostream& operator << (std::ostream& os,const Rotation& R);
+    std::ostream& operator << (std::ostream& os,const Frame& T);
+    std::ostream& operator << (std::ostream& os,const Twist& T);
+    std::ostream& operator << (std::ostream& os,const Wrench& T);
+    std::ostream& operator << (std::ostream& os,const Vector2& v);
+    std::ostream& operator << (std::ostream& os,const Rotation2& R);
+    std::ostream& operator << (std::ostream& os,const Frame2& T);
+
+
+
+    std::istream& operator >> (std::istream& is,Vector& v);
+    std::istream& operator >> (std::istream& is,Rotation& R);
+    std::istream& operator >> (std::istream& is,Frame& T);
+    std::istream& operator >> (std::istream& os,Twist& T);
+    std::istream& operator >> (std::istream& os,Wrench& T);
+    std::istream& operator >> (std::istream& is,Vector2& v);
+    std::istream& operator >> (std::istream& is,Rotation2& R);
+    std::istream& operator >> (std::istream& is,Frame2& T);
+
+
+} // namespace Frame
+
+#endif