frames_io.hpp File Reference

Defines routines for I/O of Frame and related objects. More...

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Namespaces
namespace	KDL
Functions
std::ostream &	KDL::operator<< (std::ostream &os, const Frame2 &T)
std::ostream &	KDL::operator<< (std::ostream &os, const Rotation2 &R)
std::ostream &	KDL::operator<< (std::ostream &os, const Vector2 &v)
std::ostream &	KDL::operator<< (std::ostream &os, const Wrench &v)
std::ostream &	KDL::operator<< (std::ostream &os, const Twist &v)
std::ostream &	KDL::operator<< (std::ostream &os, const Frame &T)
std::ostream &	KDL::operator<< (std::ostream &os, const Rotation &R)
std::ostream &	KDL::operator<< (std::ostream &os, const Vector &v)
	width to be used when printing variables out with frames_io.h global variable, can be changed.
std::istream &	KDL::operator>> (std::istream &is, Frame2 &T)
std::istream &	KDL::operator>> (std::istream &is, Rotation2 &r)
std::istream &	KDL::operator>> (std::istream &is, Vector2 &v)
std::istream &	KDL::operator>> (std::istream &is, Wrench &v)
std::istream &	KDL::operator>> (std::istream &is, Twist &v)
std::istream &	KDL::operator>> (std::istream &is, Frame &T)
std::istream &	KDL::operator>> (std::istream &is, Rotation &r)
std::istream &	KDL::operator>> (std::istream &is, Vector &v)

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Detailed Description

Defines routines for I/O of Frame and related objects.

//      Spaces, tabs and newlines do not have any importance.
//      Comments are allowed C-style,C++-style, make/perl/csh -style
//      Description of the I/O :
//        Vector  : OUTPUT : e.g. [10,20,30]
//                  INPUT  :
//                         1) [10,20,30]
//                         2) Zero
//        Twist   : e.g. [1,2,3,4,5,6]
//           where [1,2,3] is velocity vector
//           where [4,5,6] is rotational velocity vector
//        Wrench  : e.g. [1,2,3,4,5,6]
//           where [1,2,3] represents a force vector
//           where [4,5,6] represents a torque vector
//        Rotation : output :
//                 [1,2,3;
//                  4,5,6;
//                  7,8,9] cfr definition of Rotation object.
//                  input :
//                    1) like the output
//                    2) EulerZYX,EulerZYZ,RPY word followed by a vector, e.g. :
//                        Eulerzyx[10,20,30]
//                   (ANGLES are always expressed in DEGREES for I/O)
//                   (ANGELS are always expressed in RADIANS for internal representation)
//                    3) Rot [1,2,3] [20]  Rotates around axis [1,2,3] with an angle
//                   of 20 degrees.
//                    4) Identity          returns identity rotation matrix.
//       Frames   : output : [ Rotationmatrix positionvector ]
//                   e.g. [ [1,0,0;0,1,0;0,0,1] [1,2,3] ]
//                  Input  :
//                     1) [ Rotationmatrix positionvector ]
//                     2) DH [ 10,10,50,30]  Denavit-Hartenberg representation
//                     ( is in fact not the representation of a Frame, but more
//                       limited, cfr. documentation of Frame object.)
//  

Warning:

You can use iostream.h or iostream header files for file I/O, if one declares the define WANT_STD_IOSTREAM then the standard C++ iostreams headers are included instead of the compiler-dependent version

Definition in file frames_io.hpp.