frameacc_io.hpp

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00001 /*****************************************************************************
00002  * \file
00003  *      Defines I/O related routines to the FrameAccs classes defined in
00004  *      FrameAccs.h
00005  *
00006  *  \author
00007  *      Erwin Aertbelien, Div. PMA, Dep. of Mech. Eng., K.U.Leuven
00008  *
00009  *  \version
00010  *      ORO_Geometry V0.2
00011  *
00012  *  \par History
00013  *      - $log$
00014  *
00015  *  \par Release
00016  *      $Id: rrframes_io.h,v 1.1.1.1 2002/08/26 14:14:21 rmoreas Exp $
00017  *      $Name:  $
00018  ****************************************************************************/
00019 #ifndef RRFRAMES_IO
00020 #define RRFRAMES_IO
00021 
00022 #include "utilities/utility_io.h"
00023 #include "utilities/rall2d_io.h"
00024 
00025 #include "frames_io.hpp"
00026 #include "frameacc.hpp"
00027 
00028 namespace KDL {
00029 
00030 
00031 // Output...
00032 inline std::ostream& operator << (std::ostream& os,const VectorAcc& r) {
00033     os << "{" << r.p << "," << r.v << "," << r.dv << "}" << std::endl;
00034     return os;
00035 }
00036 
00037 inline std::ostream& operator << (std::ostream& os,const RotationAcc& r) {
00038     os << "{" << std::endl << r.R << "," << std::endl << r.w <<
00039           "," << std::endl << r.dw << std::endl << "}" << std::endl;
00040     return os;
00041 }
00042 
00043 
00044 inline std::ostream& operator << (std::ostream& os,const FrameAcc& r) {
00045     os << "{" << std::endl << r.M << "," << std::endl << r.p << "}" << std::endl;
00046     return os;
00047 }
00048 inline std::ostream& operator << (std::ostream& os,const TwistAcc& r) {
00049     os << "{" << std::endl << r.vel << "," << std::endl << r.rot << std::endl << "}" << std::endl;
00050     return os;
00051 }
00052 
00053 
00054 } // namespace Frame
00055 
00056 
00057 
00058 #endif