frames_io.cpp File Reference

#include "utilities/error.h"
#include "utilities/error_stack.h"
#include "frames.hpp"
#include "frames_io.hpp"

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Namespaces
namespace	KDL
Functions
D const Vector &v	KDL::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;}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)
std::istream &	KDL::operator>> (std::istream &is, Twist &v)
std::istream &	KDL::operator>> (std::istream &is, Wrench &v)
std::istream &	KDL::operator>> (std::istream &is, Rotation &r)
std::istream &	KDL::operator>> (std::istream &is, Frame &T)
std::istream &	KDL::operator>> (std::istream &is, Vector2 &v)
std::istream &	KDL::operator>> (std::istream &is, Rotation2 &r)
std::istream &	KDL::operator>> (std::istream &is, Frame2 &T)
Variables
D	KDL::__pad0__

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Detailed Description

Definition in file frames_io.cpp.