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/** \file itasc/kdl/frames_io.cpp
* \ingroup itasc
*/
/***************************************************************************
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 ) :
***************************************************************************
* 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 Street, *
* Fifth Floor, Boston, MA 02110-1301, USA. *
* *
***************************************************************************/
#include "utilities/error.h"
#include "utilities/error_stack.h"
#include "frames.hpp"
#include "frames_io.hpp"
#include <stdlib.h>
#include <ctype.h>
#include <string.h>
#include <iostream>
namespace KDL {
std::ostream& operator << (std::ostream& os,const Vector& v) {
os << "[" << std::setw(KDL_FRAME_WIDTH) << v(0) << "," << std::setw(KDL_FRAME_WIDTH)<<v(1)
<< "," << std::setw(KDL_FRAME_WIDTH) << v(2) << "]";
return os;
}
std::ostream& operator << (std::ostream& os,const Twist& v) {
os << "[" << std::setw(KDL_FRAME_WIDTH) << v.vel(0)
<< "," << std::setw(KDL_FRAME_WIDTH) << v.vel(1)
<< "," << std::setw(KDL_FRAME_WIDTH) << v.vel(2)
<< "," << std::setw(KDL_FRAME_WIDTH) << v.rot(0)
<< "," << std::setw(KDL_FRAME_WIDTH) << v.rot(1)
<< "," << std::setw(KDL_FRAME_WIDTH) << v.rot(2)
<< "]";
return os;
}
std::ostream& operator << (std::ostream& os,const Wrench& v) {
os << "[" << std::setw(KDL_FRAME_WIDTH) << v.force(0)
<< "," << std::setw(KDL_FRAME_WIDTH) << v.force(1)
<< "," << std::setw(KDL_FRAME_WIDTH) << v.force(2)
<< "," << std::setw(KDL_FRAME_WIDTH) << v.torque(0)
<< "," << std::setw(KDL_FRAME_WIDTH) << v.torque(1)
<< "," << std::setw(KDL_FRAME_WIDTH) << v.torque(2)
<< "]";
return os;
}
std::ostream& operator << (std::ostream& os,const Rotation& R) {
#ifdef KDL_ROTATION_PROPERTIES_RPY
double r,p,y;
R.GetRPY(r,p,y);
os << "[RPY]"<<endl;
os << "[";
os << std::setw(KDL_FRAME_WIDTH) << r << ",";
os << std::setw(KDL_FRAME_WIDTH) << p << ",";
os << std::setw(KDL_FRAME_WIDTH) << y << "]";
#else
# ifdef KDL_ROTATION_PROPERTIES_EULER
double z,y,x;
R.GetEulerZYX(z,y,x);
os << "[EULERZYX]"<<endl;
os << "[";
os << std::setw(KDL_FRAME_WIDTH) << z << ",";
os << std::setw(KDL_FRAME_WIDTH) << y << ",";
os << std::setw(KDL_FRAME_WIDTH) << x << "]";
# else
os << "[";
for (int i=0;i<=2;i++) {
os << std::setw(KDL_FRAME_WIDTH) << R(i,0) << "," <<
std::setw(KDL_FRAME_WIDTH) << R(i,1) << "," <<
std::setw(KDL_FRAME_WIDTH) << R(i,2);
if (i<2)
os << ";"<< std::endl << " ";
else
os << "]";
}
# endif
#endif
return os;
}
std::ostream& operator << (std::ostream& os, const Frame& T)
{
os << "[" << T.M << std::endl<< T.p << "]";
return os;
}
std::ostream& operator << (std::ostream& os,const Vector2& v) {
os << "[" << std::setw(KDL_FRAME_WIDTH) << v(0) << "," << std::setw(KDL_FRAME_WIDTH)<<v(1)
<< "]";
return os;
}
// Rotation2 gives back an angle in degrees with the << and >> operators.
std::ostream& operator << (std::ostream& os,const Rotation2& R) {
os << "[" << R.GetRot()*rad2deg << "]";
return os;
}
std::ostream& operator << (std::ostream& os, const Frame2& T)
{
os << T.M << T.p;
return os;
}
std::istream& operator >> (std::istream& is,Vector& v)
{ IOTrace("Stream input Vector (vector or ZERO)");
char storage[10];
EatWord(is,"[]",storage,10);
if (storage[0]=='\0') {
Eat(is,'[');
is >> v(0);
Eat(is,',');
is >> v(1);
Eat(is,',');
is >> v(2);
EatEnd(is,']');
IOTracePop();
return is;
}
if (strcmp(storage,"ZERO")==0) {
v = Vector::Zero();
IOTracePop();
return is;
}
throw Error_Frame_Vector_Unexpected_id();
}
std::istream& operator >> (std::istream& is,Twist& v)
{ IOTrace("Stream input Twist");
Eat(is,'[');
is >> v.vel(0);
Eat(is,',');
is >> v.vel(1);
Eat(is,',');
is >> v.vel(2);
Eat(is,',');
is >> v.rot(0);
Eat(is,',');
is >> v.rot(1);
Eat(is,',');
is >> v.rot(2);
EatEnd(is,']');
IOTracePop();
return is;
}
std::istream& operator >> (std::istream& is,Wrench& v)
{ IOTrace("Stream input Wrench");
Eat(is,'[');
is >> v.force(0);
Eat(is,',');
is >> v.force(1);
Eat(is,',');
is >> v.force(2);
Eat(is,',');
is >> v.torque(0);
Eat(is,',');
is >> v.torque(1);
Eat(is,',');
is >> v.torque(2);
EatEnd(is,']');
IOTracePop();
return is;
}
std::istream& operator >> (std::istream& is,Rotation& r)
{ IOTrace("Stream input Rotation (Matrix or EULERZYX, EULERZYZ,RPY, ROT, IDENTITY)");
char storage[10];
EatWord(is,"[]",storage,10);
if (storage[0]=='\0') {
Eat(is,'[');
for (int i=0;i<3;i++) {
is >> r(i,0);
Eat(is,',') ;
is >> r(i,1);
Eat(is,',');
is >> r(i,2);
if (i<2)
Eat(is,';');
else
EatEnd(is,']');
}
IOTracePop();
return is;
}
Vector v;
if (strcmp(storage,"EULERZYX")==0) {
is >> v;
v=v*deg2rad;
r = Rotation::EulerZYX(v(0),v(1),v(2));
IOTracePop();
return is;
}
if (strcmp(storage,"EULERZYZ")==0) {
is >> v;
v=v*deg2rad;
r = Rotation::EulerZYZ(v(0),v(1),v(2));
IOTracePop();
return is;
}
if (strcmp(storage,"RPY")==0) {
is >> v;
v=v*deg2rad;
r = Rotation::RPY(v(0),v(1),v(2));
IOTracePop();
return is;
}
if (strcmp(storage,"ROT")==0) {
is >> v;
double angle;
Eat(is,'[');
is >> angle;
EatEnd(is,']');
r = Rotation::Rot(v,angle*deg2rad);
IOTracePop();
return is;
}
if (strcmp(storage,"IDENTITY")==0) {
r = Rotation::Identity();
IOTracePop();
return is;
}
throw Error_Frame_Rotation_Unexpected_id();
return is;
}
std::istream& operator >> (std::istream& is,Frame& T)
{ IOTrace("Stream input Frame (Rotation,Vector) or DH[...]");
char storage[10];
EatWord(is,"[",storage,10);
if (storage[0]=='\0') {
Eat(is,'[');
is >> T.M;
is >> T.p;
EatEnd(is,']');
IOTracePop();
return is;
}
if (strcmp(storage,"DH")==0) {
double a,alpha,d,theta;
Eat(is,'[');
is >> a;
Eat(is,',');
is >> alpha;
Eat(is,',');
is >> d;
Eat(is,',');
is >> theta;
EatEnd(is,']');
T = Frame::DH(a,alpha*deg2rad,d,theta*deg2rad);
IOTracePop();
return is;
}
throw Error_Frame_Frame_Unexpected_id();
return is;
}
std::istream& operator >> (std::istream& is,Vector2& v)
{ IOTrace("Stream input Vector2");
Eat(is,'[');
is >> v(0);
Eat(is,',');
is >> v(1);
EatEnd(is,']');
IOTracePop();
return is;
}
std::istream& operator >> (std::istream& is,Rotation2& r)
{ IOTrace("Stream input Rotation2");
Eat(is,'[');
double val;
is >> val;
r.Rot(val*deg2rad);
EatEnd(is,']');
IOTracePop();
return is;
}
std::istream& operator >> (std::istream& is,Frame2& T)
{ IOTrace("Stream input Frame2");
is >> T.M;
is >> T.p;
IOTracePop();
return is;
}
} // namespace Frame
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