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// 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
#ifndef KDL_KINFAM_IO_HPP
#define KDL_KINFAM_IO_HPP
#include <iostream>
#include <fstream>
#include "joint.hpp"
#include "segment.hpp"
#include "chain.hpp"
#include "jntarray.hpp"
#include "jacobian.hpp"
#include "tree.hpp"
namespace KDL {
std::ostream& operator <<(std::ostream& os, const Joint& joint);
std::istream& operator >>(std::istream& is, Joint& joint);
std::ostream& operator <<(std::ostream& os, const Segment& segment);
std::istream& operator >>(std::istream& is, Segment& segment);
std::ostream& operator <<(std::ostream& os, const Chain& chain);
std::istream& operator >>(std::istream& is, Chain& chain);
std::ostream& operator <<(std::ostream& os, const Tree& tree);
std::istream& operator >>(std::istream& is, Tree& tree);
std::ostream& operator <<(std::ostream& os, SegmentMap::const_iterator it);
std::ostream& operator <<(std::ostream& os, const JntArray& array);
std::istream& operator >>(std::istream& is, JntArray& array);
std::ostream& operator <<(std::ostream& os, const Jacobian& jac);
std::istream& operator >>(std::istream& is, Jacobian& jac);
template<typename T>
std::ostream& operator<<(std::ostream& os, const std::vector<T>& vec) {
os << "[";
for (unsigned int i = 0; i < vec.size(); i++)
os << vec[i] << " ";
os << "]";
return os;
}
;
template<typename T>
std::istream& operator >>(std::istream& is, std::vector<T>& vec) {
return is;
}
;
}
#endif
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