KDL  1.4.0
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 
28 namespace KDL {
29 
30 
31 // Output...
32 inline std::ostream& operator << (std::ostream& os,const VectorAcc& r) {
33  os << "{" << r.p << "," << r.v << "," << r.dv << "}" << std::endl;
34  return os;
35 }
36 
37 inline 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 
44 inline 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 }
48 inline 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
KDL::TwistAcc::rot
VectorAcc rot
rotational velocity and its 1st and 2nd derivative
Definition: frameacc.hpp:239
KDL::Twist::rot
Vector rot
The rotational velocity of that point.
Definition: frames.hpp:723
KDL::Frame::p
Vector p
origine of the Frame
Definition: frames.hpp:572
frames_io.hpp
KDL::FrameAcc
Definition: frameacc.hpp:191
KDL::RotationAcc::w
Vector w
angular velocity vector
Definition: frameacc.hpp:140
KDL::RotationAcc
Definition: frameacc.hpp:136
KDL
Definition: articulatedbodyinertia.cpp:28
KDL::VectorAcc::p
Vector p
position vector
Definition: frameacc.hpp:90
Equal
bool Equal(const VectorAcc &r1, const VectorAcc &r2, double eps)
Definition: frameacc.inl:159
KDL::Vector
A concrete implementation of a 3 dimensional vector class.
Definition: frames.hpp:160
KDL::RotationAcc::R
Rotation R
rotation matrix
Definition: frameacc.hpp:139
KDL::Twist
represents both translational and rotational velocities.
Definition: frames.hpp:720
KDL::VectorAcc::v
Vector v
velocity vector
Definition: frameacc.hpp:91
dot
doubleAcc dot(const VectorAcc &lhs, const VectorAcc &rhs)
Definition: frameacc.inl:137
KDL::TwistAcc
Definition: frameacc.hpp:235
operator+
VectorAcc operator+(const VectorAcc &r1, const VectorAcc &r2)
Definition: frameacc.inl:24
KDL::FrameAcc::p
VectorAcc p
Translation, velocity and acceleration of origin.
Definition: frameacc.hpp:195
KDL::Frame
Definition: frames.hpp:570
operator*
VectorAcc operator*(const VectorAcc &r1, const VectorAcc &r2)
Definition: frameacc.inl:52
operator/
VectorAcc operator/(const VectorAcc &r1, double r2)
Definition: frameacc.inl:180
KDL::Twist::vel
Vector vel
The velocity of that point.
Definition: frames.hpp:722
KDL::RotationAcc::dw
Vector dw
angular acceration vector
Definition: frameacc.hpp:141
KDL::VectorAcc
Definition: frameacc.hpp:87
KDL::VectorAcc::dv
Vector dv
acceleration vector
Definition: frameacc.hpp:92
KDL::Frame::M
Rotation M
Orientation of the Frame.
Definition: frames.hpp:573
KDL::operator<<
std::ostream & operator<<(std::ostream &os, const VectorAcc &r)
Definition: frameacc_io.hpp:49
KDL::doubleAcc
Rall2d< double, double, double > doubleAcc
Definition: frameacc.hpp:66
frameacc.hpp
KDL::TwistAcc::vel
VectorAcc vel
translational velocity and its 1st and 2nd derivative
Definition: frameacc.hpp:238
KDL::FrameAcc::M
RotationAcc M
Rotation,angular velocity, and angular acceleration of frame.
Definition: frameacc.hpp:194
operator-
VectorAcc operator-(const VectorAcc &r1, const VectorAcc &r2)
Definition: frameacc.inl:28
KDL::Rotation
represents rotations in 3 dimensional space.
Definition: frames.hpp:301