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Diffstat (limited to 'intern/itasc/kdl/frames_io.hpp')
| -rw-r--r-- | intern/itasc/kdl/frames_io.hpp | 114 |
1 files changed, 114 insertions, 0 deletions
diff --git a/intern/itasc/kdl/frames_io.hpp b/intern/itasc/kdl/frames_io.hpp new file mode 100644 index 00000000000..a358d27383f --- /dev/null +++ b/intern/itasc/kdl/frames_io.hpp @@ -0,0 +1,114 @@ +/*************************************************************************** + 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 |