105 lines
3.0 KiB
C++
105 lines
3.0 KiB
C++
/** \file itasc/kdl/kinfam_io.cpp
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* \ingroup itasc
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*/
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// Copyright (C) 2007 Ruben Smits <ruben dot smits at mech dot kuleuven dot be>
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// Version: 1.0
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// Author: Ruben Smits <ruben dot smits at mech dot kuleuven dot be>
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// Maintainer: Ruben Smits <ruben dot smits at mech dot kuleuven dot be>
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// URL: http://www.orocos.org/kdl
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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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// 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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// 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 St, Fifth Floor, Boston, MA 02110-1301 USA
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#include "kinfam_io.hpp"
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#include "frames_io.hpp"
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namespace KDL {
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std::ostream& operator <<(std::ostream& os, const Joint& joint) {
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return os << joint.getTypeName();
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}
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std::istream& operator >>(std::istream& is, Joint& joint) {
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return is;
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}
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std::ostream& operator <<(std::ostream& os, const Segment& segment) {
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os << "[" << segment.getJoint() << ",\n" << segment.getFrameToTip() << "]";
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return os;
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}
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std::istream& operator >>(std::istream& is, Segment& segment) {
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return is;
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}
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std::ostream& operator <<(std::ostream& os, const Chain& chain) {
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os << "[";
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for (unsigned int i = 0; i < chain.getNrOfSegments(); i++)
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os << chain.getSegment(i) << "\n";
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os << "]";
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return os;
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}
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std::istream& operator >>(std::istream& is, Chain& chain) {
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return is;
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}
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std::ostream& operator <<(std::ostream& os, const Tree& tree) {
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SegmentMap::const_iterator root = tree.getSegment("root");
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return os << root;
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}
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std::ostream& operator <<(std::ostream& os, SegmentMap::const_iterator root) {
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//os<<root->first<<": "<<root->second.segment<<"\n";
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os << root->first<<"(q_nr: "<<root->second.q_nr<<")"<<"\n \t";
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for (unsigned int i = 0; i < root->second.children.size(); i++) {
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os <<(root->second.children[i])<<"\t";
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}
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return os << "\n";
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}
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std::istream& operator >>(std::istream& is, Tree& tree) {
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return is;
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}
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std::ostream& operator <<(std::ostream& os, const JntArray& array) {
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os << "[";
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for (unsigned int i = 0; i < array.rows(); i++)
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os << std::setw(KDL_FRAME_WIDTH) << array[i];
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os << "]";
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return os;
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}
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std::istream& operator >>(std::istream& is, JntArray& array) {
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return is;
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}
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std::ostream& operator <<(std::ostream& os, const Jacobian& jac) {
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os << "[";
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for (unsigned int i = 0; i < jac.rows(); i++) {
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for (unsigned int j = 0; j < jac.columns(); j++)
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os << std::setw(KDL_FRAME_WIDTH) << jac(i, j);
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os << std::endl;
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}
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os << "]";
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return os;
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}
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std::istream& operator >>(std::istream& is, Jacobian& jac) {
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return is;
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}
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}
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