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kdl_install/include/kdl/kinfam_io.hpp

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+// Copyright  (C)  2007  Ruben Smits <ruben dot smits at mech dot kuleuven dot be>
+
+// Version: 1.0
+// Author: Ruben Smits <ruben dot smits at mech dot kuleuven dot be>
+// Maintainer: Ruben Smits <ruben dot smits at mech dot kuleuven dot be>
+// URL: http://www.orocos.org/kdl
+
+// 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., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
+
+#ifndef KDL_KINFAM_IO_HPP
+#define KDL_KINFAM_IO_HPP
+
+#include <iostream>
+#include <fstream>
+
+#include "joint.hpp"
+#include "segment.hpp"
+#include "chain.hpp"
+#include "jntarray.hpp"
+#include "jacobian.hpp"
+#include "tree.hpp"
+#include "jntspaceinertiamatrix.hpp"
+
+namespace KDL {
+std::ostream& operator <<(std::ostream& os, const Joint& joint);
+std::istream& operator >>(std::istream& is, Joint& joint);
+std::ostream& operator <<(std::ostream& os, const Segment& segment);
+std::istream& operator >>(std::istream& is, Segment& segment);
+std::ostream& operator <<(std::ostream& os, const Chain& chain);
+std::istream& operator >>(std::istream& is, Chain& chain);
+
+std::ostream& operator <<(std::ostream& os, const Tree& tree);
+std::istream& operator >>(std::istream& is, Tree& tree);
+
+std::ostream& operator <<(std::ostream& os, SegmentMap::const_iterator it);
+
+std::ostream& operator <<(std::ostream& os, const JntArray& array);
+std::istream& operator >>(std::istream& is, JntArray& array);
+std::ostream& operator <<(std::ostream& os, const Jacobian& jac);
+std::istream& operator >>(std::istream& is, Jacobian& jac);
+std::ostream& operator <<(std::ostream& os, const JntSpaceInertiaMatrix& jntspaceinertiamatrix);
+std::istream& operator >>(std::istream& is, JntSpaceInertiaMatrix& jntspaceinertiamatrix);
+
+//Builds a string containing the "branches" of a Tree using indentation or another
+//user-supplied pattern, so that it is easier to visualize its structure. It is
+//also possible to specify a "preamble", ie, a string to be included at the
+//beginning of each new line.
+std::string tree2str(const Tree& tree, const std::string& separator="  ", const std::string& preamble="");
+std::string tree2str(const SegmentMap::const_iterator it, const std::string& separator="  ", const std::string& preamble="", unsigned int level=0);
+
+    /*
+template<typename T>
+std::ostream& operator<<(std::ostream& os, const std::vector<T>& vec) {
+	os << "[";
+	for (unsigned int i = 0; i < vec.size(); i++)
+		os << vec[i] << " ";
+	os << "]";
+	return os;
+}
+;
+
+template<typename T>
+std::istream& operator >>(std::istream& is, std::vector<T>& vec) {
+	return is;
+}
+;
+    */
+}
+#endif