Blender V2.61 - r43446

kinfam_io.cpp

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00001 
00004 // Copyright  (C)  2007  Ruben Smits <ruben dot smits at mech dot kuleuven dot be>
00005 
00006 // Version: 1.0
00007 // Author: Ruben Smits <ruben dot smits at mech dot kuleuven dot be>
00008 // Maintainer: Ruben Smits <ruben dot smits at mech dot kuleuven dot be>
00009 // URL: http://www.orocos.org/kdl
00010 
00011 // This library is free software; you can redistribute it and/or
00012 // modify it under the terms of the GNU Lesser General Public
00013 // License as published by the Free Software Foundation; either
00014 // version 2.1 of the License, or (at your option) any later version.
00015 
00016 // This library is distributed in the hope that it will be useful,
00017 // but WITHOUT ANY WARRANTY; without even the implied warranty of
00018 // MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
00019 // Lesser General Public License for more details.
00020 
00021 // You should have received a copy of the GNU Lesser General Public
00022 // License along with this library; if not, write to the Free Software
00023 // Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
00024 
00025 #include "kinfam_io.hpp"
00026 #include "frames_io.hpp"
00027 
00028 namespace KDL {
00029 std::ostream& operator <<(std::ostream& os, const Joint& joint) {
00030     return os << joint.getTypeName();
00031 }
00032 
00033 std::istream& operator >>(std::istream& is, Joint& joint) {
00034     return is;
00035 }
00036 
00037 std::ostream& operator <<(std::ostream& os, const Segment& segment) {
00038     os << "[" << segment.getJoint() << ",\n" << segment.getFrameToTip() << "]";
00039     return os;
00040 }
00041 
00042 std::istream& operator >>(std::istream& is, Segment& segment) {
00043     return is;
00044 }
00045 
00046 std::ostream& operator <<(std::ostream& os, const Chain& chain) {
00047     os << "[";
00048     for (unsigned int i = 0; i < chain.getNrOfSegments(); i++)
00049         os << chain.getSegment(i) << "\n";
00050     os << "]";
00051     return os;
00052 }
00053 
00054 std::istream& operator >>(std::istream& is, Chain& chain) {
00055     return is;
00056 }
00057 
00058 std::ostream& operator <<(std::ostream& os, const Tree& tree) {
00059     SegmentMap::const_iterator root = tree.getSegment("root");
00060     return os << root;
00061 }
00062 
00063 std::ostream& operator <<(std::ostream& os, SegmentMap::const_iterator root) {
00064     //os<<root->first<<": "<<root->second.segment<<"\n";
00065     os << root->first<<"(q_nr: "<<root->second.q_nr<<")"<<"\n \t";
00066     for (unsigned int i = 0; i < root->second.children.size(); i++) {
00067         os <<(root->second.children[i])<<"\t";
00068     }
00069     return os << "\n";
00070 }
00071 
00072 std::istream& operator >>(std::istream& is, Tree& tree) {
00073     return is;
00074 }
00075 
00076 std::ostream& operator <<(std::ostream& os, const JntArray& array) {
00077     os << "[";
00078     for (unsigned int i = 0; i < array.rows(); i++)
00079         os << std::setw(KDL_FRAME_WIDTH) << array(i);
00080     os << "]";
00081     return os;
00082 }
00083 
00084 std::istream& operator >>(std::istream& is, JntArray& array) {
00085     return is;
00086 }
00087 
00088 std::ostream& operator <<(std::ostream& os, const Jacobian& jac) {
00089     os << "[";
00090     for (unsigned int i = 0; i < jac.rows(); i++) {
00091         for (unsigned int j = 0; j < jac.columns(); j++)
00092             os << std::setw(KDL_FRAME_WIDTH) << jac(i, j);
00093         os << std::endl;
00094     }
00095     os << "]";
00096     return os;
00097 }
00098 
00099 std::istream& operator >>(std::istream& is, Jacobian& jac) {
00100     return is;
00101 }
00102 
00103 }
00104