KDL  1.4.0
framevel_io.hpp
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1 /*****************************************************************************
2  * \file
3  * provides I/O operations on FrameVels classes
4  *
5  * \author
6  * Erwin Aertbelien, Div. PMA, Dep. of Mech. Eng., K.U.Leuven
7  *
8  * \version
9  * ORO_Geometry V2
10  *
11  * \par History
12  * - $log$
13  *
14  * \par Release
15  * $Id: rframes_io.h,v 1.1.1.1 2002/08/26 14:14:21 rmoreas Exp $
16  * $Name: $
17  ****************************************************************************/
18 #ifndef KDL_FRAMESVEL_IO
19 #define KDL_FRAMESVEL_IO
20 
21 #include "utilities/utility_io.h"
22 #include "utilities/rall1d_io.h"
23 
24 #include "framevel_io.hpp"
25 #include "frames_io.hpp"
26 
27 namespace KDL {
28 
29 // Output...
30 inline std::ostream& operator << (std::ostream& os,const VectorVel& r) {
31  os << "{" << r.p << "," << r.v << "}" << std::endl;
32  return os;
33 }
34 
35 inline std::ostream& operator << (std::ostream& os,const RotationVel& r) {
36  os << "{" << std::endl << r.R << "," <<std::endl << r.w << std::endl << "}" << std::endl;
37  return os;
38 }
39 
40 
41 inline std::ostream& operator << (std::ostream& os,const FrameVel& r) {
42  os << "{" << std::endl << r.M << "," << std::endl << r.p << std::endl << "}" << std::endl;
43  return os;
44 }
45 
46 inline std::ostream& operator << (std::ostream& os,const TwistVel& r) {
47  os << "{" << std::endl << r.vel << "," << std::endl << r.rot << std::endl << "}" << std::endl;
48  return os;
49 }
50 
51 
52 } // namespace Frame
53 
54 
55 
56 #endif
KDL::RotationVel::w
Vector w
Definition: framevel.hpp:147
operator*
FrameVel operator*(const FrameVel &lhs, const FrameVel &rhs)
Definition: framevel.inl:33
KDL::Twist::rot
Vector rot
The rotational velocity of that point.
Definition: frames.hpp:723
framevel_io.hpp
KDL::TwistVel
Definition: framevel.hpp:253
KDL::RotationVel::R
Rotation R
Definition: framevel.hpp:146
KDL::Frame::p
Vector p
origine of the Frame
Definition: frames.hpp:572
frames_io.hpp
KDL::Vector::Normalize
double Normalize(double eps=epsilon)
Normalizes this vector and returns it norm makes v a unitvector and returns the norm of v.
Definition: frames.cpp:148
KDL::FrameVel::M
RotationVel M
Definition: framevel.hpp:206
KDL::VectorVel::v
Vector v
Definition: framevel.hpp:92
KDL
Definition: articulatedbodyinertia.cpp:28
operator/
VectorVel operator/(const VectorVel &r1, double r2)
Definition: framevel.inl:278
KDL::Vector
A concrete implementation of a 3 dimensional vector class.
Definition: frames.hpp:160
KDL::Twist
represents both translational and rotational velocities.
Definition: frames.hpp:720
Equal
bool Equal(const FrameVel &r1, const FrameVel &r2, double eps)
Definition: framevel.inl:75
KDL::RotationVel
Definition: framevel.hpp:139
KDL::doubleVel
Rall1d< double > doubleVel
Definition: framevel.hpp:56
KDL::Frame
Definition: frames.hpp:570
SetToZero
void SetToZero(VectorVel &v)
Definition: framevel.inl:239
KDL::VectorVel
Definition: framevel.hpp:84
KDL::TwistVel::rot
VectorVel rot
Definition: framevel.hpp:259
KDL::Twist::vel
Vector vel
The velocity of that point.
Definition: frames.hpp:722
KDL::FrameVel::p
VectorVel p
Definition: framevel.hpp:207
Rot
IMETHOD Rotation Rot(const Vector &axis_a_b)
axis_a_b is a rotation vector, its norm is a rotation angle axis_a_b rotates the a frame towards the ...
Definition: frames.inl:1100
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::TwistVel::vel
VectorVel vel
Definition: framevel.hpp:258
operator+
VectorVel operator+(const VectorVel &r1, const VectorVel &r2)
Definition: framevel.inl:210
KDL::VectorVel::p
Vector p
Definition: framevel.hpp:91
KDL::FrameVel
Definition: framevel.hpp:197
dot
IMETHOD doubleVel dot(const VectorVel &lhs, const VectorVel &rhs)
Definition: framevel.inl:357
operator-
VectorVel operator-(const VectorVel &r1, const VectorVel &r2)
Definition: framevel.inl:214
KDL::Rotation
represents rotations in 3 dimensional space.
Definition: frames.hpp:301