115 lines
5.2 KiB
C++
115 lines
5.2 KiB
C++
/***************************************************************************
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frames_io.h - description
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-------------------------
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begin : June 2006
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copyright : (C) 2006 Erwin Aertbelien
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email : firstname.lastname@mech.kuleuven.ac.be
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History (only major changes)( AUTHOR-Description ) :
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Ruben Smits - Added output for jacobian and jntarray 06/2007
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***************************************************************************
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* This library is free software; you can redistribute it and/or *
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* modify it under the terms of the GNU Lesser General Public *
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* License as published by the Free Software Foundation; either *
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* version 2.1 of the License, or (at your option) any later version. *
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* *
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* This library is distributed in the hope that it will be useful, *
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* but WITHOUT ANY WARRANTY; without even the implied warranty of *
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU *
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* Lesser General Public License for more details. *
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* *
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* You should have received a copy of the GNU Lesser General Public *
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* License along with this library; if not, write to the Free Software *
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* Foundation, Inc., 51 Franklin Street, *
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* Fifth Floor, Boston, MA 02110-1301, USA. *
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* *
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***************************************************************************/
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/**
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//
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// \file
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// Defines routines for I/O of Frame and related objects.
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// \verbatim
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// Spaces, tabs and newlines do not have any importance.
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// Comments are allowed C-style,C++-style, make/perl/csh -style
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// Description of the I/O :
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// Vector : OUTPUT : e.g. [10,20,30]
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// INPUT :
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// 1) [10,20,30]
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// 2) Zero
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// Twist : e.g. [1,2,3,4,5,6]
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// where [1,2,3] is velocity vector
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// where [4,5,6] is rotational velocity vector
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// Wrench : e.g. [1,2,3,4,5,6]
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// where [1,2,3] represents a force vector
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// where [4,5,6] represents a torque vector
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// Rotation : output :
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// [1,2,3;
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// 4,5,6;
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// 7,8,9] cfr definition of Rotation object.
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// input :
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// 1) like the output
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// 2) EulerZYX,EulerZYZ,RPY word followed by a vector, e.g. :
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// Eulerzyx[10,20,30]
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// (ANGLES are always expressed in DEGREES for I/O)
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// (ANGELS are always expressed in RADIANS for internal representation)
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// 3) Rot [1,2,3] [20] Rotates around axis [1,2,3] with an angle
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// of 20 degrees.
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// 4) Identity returns identity rotation matrix.
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// Frames : output : [ Rotationmatrix positionvector ]
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// e.g. [ [1,0,0;0,1,0;0,0,1] [1,2,3] ]
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// Input :
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// 1) [ Rotationmatrix positionvector ]
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// 2) DH [ 10,10,50,30] Denavit-Hartenberg representation
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// ( is in fact not the representation of a Frame, but more
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// limited, cfr. documentation of Frame object.)
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// \endverbatim
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//
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// \warning
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// You can use iostream.h or iostream header files for file I/O,
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// if one declares the define WANT_STD_IOSTREAM then the standard C++
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// iostreams headers are included instead of the compiler-dependent version
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//
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*
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****************************************************************************/
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#ifndef FRAMES_IO_H
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#define FRAMES_IO_H
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#include "utilities/utility_io.h"
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#include "frames.hpp"
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#include "jntarray.hpp"
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#include "jacobian.hpp"
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namespace KDL {
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//! width to be used when printing variables out with frames_io.h
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//! global variable, can be changed.
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// I/O to C++ stream.
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std::ostream& operator << (std::ostream& os,const Vector& v);
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std::ostream& operator << (std::ostream& os,const Rotation& R);
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std::ostream& operator << (std::ostream& os,const Frame& T);
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std::ostream& operator << (std::ostream& os,const Twist& T);
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std::ostream& operator << (std::ostream& os,const Wrench& T);
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std::ostream& operator << (std::ostream& os,const Vector2& v);
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std::ostream& operator << (std::ostream& os,const Rotation2& R);
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std::ostream& operator << (std::ostream& os,const Frame2& T);
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std::istream& operator >> (std::istream& is,Vector& v);
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std::istream& operator >> (std::istream& is,Rotation& R);
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std::istream& operator >> (std::istream& is,Frame& T);
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std::istream& operator >> (std::istream& os,Twist& T);
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std::istream& operator >> (std::istream& os,Wrench& T);
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std::istream& operator >> (std::istream& is,Vector2& v);
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std::istream& operator >> (std::istream& is,Rotation2& R);
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std::istream& operator >> (std::istream& is,Frame2& T);
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} // namespace Frame
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#endif
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