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author | Benoit Bolsee <benoit.bolsee@online.be> | 2009-09-25 01:22:24 +0400 |
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committer | Benoit Bolsee <benoit.bolsee@online.be> | 2009-09-25 01:22:24 +0400 |
commit | 1483fafd1372a3d3e025d08634e798adb7da512f (patch) | |
tree | 9191765749e29866339f4c31d892603f5f8b334d /intern/itasc/kdl/kinfam_io.hpp | |
parent | c995c605f640d8d688e6e58e0fe247ca83f91696 (diff) | |
parent | 222fe6b1a5d49f67177cbb762f55a0e482145f5d (diff) |
Merge of itasc branch. Project files, scons and cmake should be working. Makefile updated but not tested. Comes with Eigen2 2.0.6 C++ matrix library.
Diffstat (limited to 'intern/itasc/kdl/kinfam_io.hpp')
-rw-r--r-- | intern/itasc/kdl/kinfam_io.hpp | 70 |
1 files changed, 70 insertions, 0 deletions
diff --git a/intern/itasc/kdl/kinfam_io.hpp b/intern/itasc/kdl/kinfam_io.hpp new file mode 100644 index 00000000000..a8dbfd1c5dc --- /dev/null +++ b/intern/itasc/kdl/kinfam_io.hpp @@ -0,0 +1,70 @@ +// 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" + +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); + +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 + |