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/***************************************************************************
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., 51 Franklin Street, *
* Fifth Floor, Boston, MA 02110-1301, 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
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