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