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Diffstat (limited to 'intern/itasc/kdl/kinfam_io.cpp')
-rw-r--r-- | intern/itasc/kdl/kinfam_io.cpp | 101 |
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; +} + +} + |