1 files changed, 101 insertions, 0 deletions
diff --git a/intern/itasc/kdl/kinfam_io.cpp b/intern/itasc/kdl/kinfam_io.cpp
new file mode 100644
index 00000000000..900e2e101a9
--- /dev/null
+++ b/intern/itasc/kdl/kinfam_io.cpp
@@ -0,0 +1,101 @@
+// 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
+
+#include "kinfam_io.hpp"
+#include "frames_io.hpp"
+
+namespace KDL {
+std::ostream& operator <<(std::ostream& os, const Joint& joint) {
+	return os << joint.getTypeName();
+}
+
+std::istream& operator >>(std::istream& is, Joint& joint) {
+	return is;
+}
+
+std::ostream& operator <<(std::ostream& os, const Segment& segment) {
+	os << "[" << segment.getJoint() << ",\n" << segment.getFrameToTip() << "]";
+	return os;
+}
+
+std::istream& operator >>(std::istream& is, Segment& segment) {
+	return is;
+}
+
+std::ostream& operator <<(std::ostream& os, const Chain& chain) {
+	os << "[";
+	for (unsigned int i = 0; i < chain.getNrOfSegments(); i++)
+		os << chain.getSegment(i) << "\n";
+	os << "]";
+	return os;
+}
+
+std::istream& operator >>(std::istream& is, Chain& chain) {
+	return is;
+}
+
+std::ostream& operator <<(std::ostream& os, const Tree& tree) {
+	SegmentMap::const_iterator root = tree.getSegment("root");
+	return os << root;
+}
+
+std::ostream& operator <<(std::ostream& os, SegmentMap::const_iterator root) {
+	//os<<root->first<<": "<<root->second.segment<<"\n";
+	os << root->first<<"(q_nr: "<<root->second.q_nr<<")"<<"\n \t";
+	for (unsigned int i = 0; i < root->second.children.size(); i++) {
+		os <<(root->second.children[i])<<"\t";
+	}
+	return os << "\n";
+}
+
+std::istream& operator >>(std::istream& is, Tree& tree) {
+	return is;
+}
+
+std::ostream& operator <<(std::ostream& os, const JntArray& array) {
+	os << "[";
+	for (unsigned int i = 0; i < array.rows(); i++)
+		os << std::setw(KDL_FRAME_WIDTH) << array(i);
+	os << "]";
+	return os;
+}
+
+std::istream& operator >>(std::istream& is, JntArray& array) {
+	return is;
+}
+
+std::ostream& operator <<(std::ostream& os, const Jacobian& jac) {
+	os << "[";
+	for (unsigned int i = 0; i < jac.rows(); i++) {
+		for (unsigned int j = 0; j < jac.columns(); j++)
+			os << std::setw(KDL_FRAME_WIDTH) << jac(i, j);
+		os << std::endl;
+	}
+	os << "]";
+	return os;
+}
+
+std::istream& operator >>(std::istream& is, Jacobian& jac) {
+	return is;
+}
+
+}
+