framevel_io.hpp

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00001 /*****************************************************************************
00002  * \file
00003  *      provides I/O operations on FrameVels classes
00004  *
00005  *  \author
00006  *      Erwin Aertbelien, Div. PMA, Dep. of Mech. Eng., K.U.Leuven
00007  *
00008  *  \version
00009  *      ORO_Geometry V2
00010  *
00011  *  \par History
00012  *      - $log$
00013  *
00014  *  \par Release
00015  *      $Id: rframes_io.h,v 1.1.1.1 2002/08/26 14:14:21 rmoreas Exp $
00016  *      $Name:  $
00017  ****************************************************************************/
00018 #ifndef KDL_FRAMESVEL_IO
00019 #define KDL_FRAMESVEL_IO
00020 
00021 #include "utilities/utility_io.h"
00022 #include "utilities/rall1d_io.h"
00023 
00024 #include "framevel_io.hpp"
00025 #include "frames_io.hpp"
00026 
00027 namespace KDL {
00028 
00029 // Output...
00030 inline std::ostream& operator << (std::ostream& os,const VectorVel& r) {
00031     os << "{" << r.p << "," << r.v << "}" << std::endl;
00032     return os;
00033 }
00034 
00035 inline std::ostream& operator << (std::ostream& os,const RotationVel& r) {
00036     os << "{" << std::endl << r.R << "," <<std::endl << r.w << std::endl << "}" << std::endl;
00037     return os;
00038 }
00039 
00040 
00041 inline std::ostream& operator << (std::ostream& os,const FrameVel& r) {
00042     os << "{" << std::endl << r.M << "," << std::endl << r.p << std::endl << "}" << std::endl;
00043     return os;
00044 }
00045 
00046 inline std::ostream& operator << (std::ostream& os,const TwistVel& r) {
00047     os << "{" << std::endl << r.vel << "," << std::endl << r.rot << std::endl << "}" << std::endl;
00048     return os;
00049 }
00050 
00051 
00052 } // namespace Frame
00053 
00054 
00055 
00056 #endif