KDL 1.5.1
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frameacc_io.hpp
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1/*****************************************************************************
2 * \file
3 * Defines I/O related routines to the FrameAccs classes defined in
4 * FrameAccs.h
5 *
6 * \author
7 * Erwin Aertbelien, Div. PMA, Dep. of Mech. Eng., K.U.Leuven
8 *
9 * \version
10 * ORO_Geometry V0.2
11 *
12 * \par History
13 * - $log$
14 *
15 * \par Release
16 * $Id: rrframes_io.h,v 1.1.1.1 2002/08/26 14:14:21 rmoreas Exp $
17 * $Name: $
18 ****************************************************************************/
19#ifndef RRFRAMES_IO
20#define RRFRAMES_IO
21
22#include "utilities/utility_io.h"
23#include "utilities/rall2d_io.h"
24
25#include "frames_io.hpp"
26#include "frameacc.hpp"
27
28namespace KDL {
29
30
31// Output...
32inline std::ostream& operator << (std::ostream& os,const VectorAcc& r) {
33 os << "{" << r.p << "," << r.v << "," << r.dv << "}" << std::endl;
34 return os;
35}
36
37inline std::ostream& operator << (std::ostream& os,const RotationAcc& r) {
38 os << "{" << std::endl << r.R << "," << std::endl << r.w <<
39 "," << std::endl << r.dw << std::endl << "}" << std::endl;
40 return os;
41}
42
43
44inline std::ostream& operator << (std::ostream& os,const FrameAcc& r) {
45 os << "{" << std::endl << r.M << "," << std::endl << r.p << "}" << std::endl;
46 return os;
47}
48inline std::ostream& operator << (std::ostream& os,const TwistAcc& r) {
49 os << "{" << std::endl << r.vel << "," << std::endl << r.rot << std::endl << "}" << std::endl;
50 return os;
51}
52
53
54} // namespace Frame
55
56
57
58#endif
Definition: frameacc.hpp:166
RotationAcc M
Rotation,angular velocity, and angular acceleration of frame.
Definition: frameacc.hpp:168
VectorAcc p
Translation, velocity and acceleration of origin.
Definition: frameacc.hpp:169
Definition: frameacc.hpp:111
Vector dw
angular acceration vector
Definition: frameacc.hpp:115
Vector w
angular velocity vector
Definition: frameacc.hpp:114
Rotation R
rotation matrix
Definition: frameacc.hpp:113
Definition: frameacc.hpp:210
VectorAcc rot
rotational velocity and its 1st and 2nd derivative
Definition: frameacc.hpp:213
VectorAcc vel
translational velocity and its 1st and 2nd derivative
Definition: frameacc.hpp:212
Definition: frameacc.hpp:62
Vector p
position vector
Definition: frameacc.hpp:64
Vector dv
acceleration vector
Definition: frameacc.hpp:66
Vector v
velocity vector
Definition: frameacc.hpp:65
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