KDL 1.5.1
framevel_io.hpp
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1/*****************************************************************************
2 * \file
3 * provides I/O operations on FrameVels classes
4 *
5 * \author
6 * Erwin Aertbelien, Div. PMA, Dep. of Mech. Eng., K.U.Leuven
7 *
8 * \version
9 * ORO_Geometry V2
10 *
11 * \par History
12 * - $log$
13 *
14 * \par Release
15 * $Id: rframes_io.h,v 1.1.1.1 2002/08/26 14:14:21 rmoreas Exp $
16 * $Name: $
17 ****************************************************************************/
18#ifndef KDL_FRAMESVEL_IO
19#define KDL_FRAMESVEL_IO
20
21#include "utilities/utility_io.h"
22#include "utilities/rall1d_io.h"
23
24#include "frames_io.hpp"
25
26namespace KDL {
27
28// Output...
29inline std::ostream& operator << (std::ostream& os,const VectorVel& r) {
30 os << "{" << r.p << "," << r.v << "}" << std::endl;
31 return os;
32}
33
34inline std::ostream& operator << (std::ostream& os,const RotationVel& r) {
35 os << "{" << std::endl << r.R << "," <<std::endl << r.w << std::endl << "}" << std::endl;
36 return os;
37}
38
39
40inline std::ostream& operator << (std::ostream& os,const FrameVel& r) {
41 os << "{" << std::endl << r.M << "," << std::endl << r.p << std::endl << "}" << std::endl;
42 return os;
43}
44
45inline std::ostream& operator << (std::ostream& os,const TwistVel& r) {
46 os << "{" << std::endl << r.vel << "," << std::endl << r.rot << std::endl << "}" << std::endl;
47 return os;
48}
49
50
51} // namespace Frame
52
53
54
55#endif
Definition: framevel.hpp:219
VectorVel p
Definition: framevel.hpp:222
RotationVel M
Definition: framevel.hpp:221
Definition: framevel.hpp:152
Vector w
Definition: framevel.hpp:155
Rotation R
Definition: framevel.hpp:154
Definition: framevel.hpp:278
VectorVel vel
Definition: framevel.hpp:280
VectorVel rot
Definition: framevel.hpp:281
Definition: framevel.hpp:89
Vector p
Definition: framevel.hpp:91
Vector v
Definition: framevel.hpp:92
Defines routines for I/O of Frame and related objects.
Definition: articulatedbodyinertia.cpp:26
std::ostream & operator<<(std::ostream &os, const VectorAcc &r)
Definition: frameacc_io.hpp:32