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22 #ifndef KDL_KINFAM_IO_HPP
23 #define KDL_KINFAM_IO_HPP
37 std::ostream&
operator <<(std::ostream& os,
const Joint& joint);
38 std::istream&
operator >>(std::istream& is, Joint& joint);
39 std::ostream&
operator <<(std::ostream& os,
const Segment& segment);
40 std::istream&
operator >>(std::istream& is, Segment& segment);
41 std::ostream&
operator <<(std::ostream& os,
const Chain& chain);
42 std::istream&
operator >>(std::istream& is, Chain& chain);
44 std::ostream&
operator <<(std::ostream& os,
const Tree& tree);
45 std::istream&
operator >>(std::istream& is, Tree& tree);
47 std::ostream&
operator <<(std::ostream& os, SegmentMap::const_iterator it);
49 std::ostream&
operator <<(std::ostream& os,
const JntArray& array);
50 std::istream&
operator >>(std::istream& is, JntArray& array);
51 std::ostream&
operator <<(std::ostream& os,
const Jacobian& jac);
52 std::istream&
operator >>(std::istream& is, Jacobian& jac);
53 std::ostream&
operator <<(std::ostream& os,
const JntSpaceInertiaMatrix& jntspaceinertiamatrix);
54 std::istream&
operator >>(std::istream& is, JntSpaceInertiaMatrix& jntspaceinertiamatrix);
unsigned int columns() const
Definition: jacobian.cpp:75
Definition: jntarray.hpp:70
SegmentMap::const_iterator getRootSegment() const
Request the root segment of the tree.
Definition: tree.hpp:186
const Joint & getJoint() const
Request the joint of the segment.
Definition: segment.hpp:118
Vector JointOrigin() const
Request the Vector corresponding to the origin of a revolute joint.
Definition: joint.cpp:157
#define GetTreeElementChildren(tree_element)
Definition: tree.hpp:59
Definition: articulatedbodyinertia.cpp:28
const std::string & getName() const
Request the name of the joint.
Definition: joint.hpp:150
unsigned int getNrOfSegments() const
Request the total number of segments in the chain.
Definition: chain.hpp:76
unsigned int rows() const
Returns the number of rows (size) of the array.
Definition: jntarray.cpp:72
const Segment & getSegment(unsigned int nr) const
Request the nr'd segment of the chain.
Definition: chain.cpp:68
Frame getFrameToTip() const
Request the pose from the joint end to the tip of the segment.
Definition: segment.hpp:149
unsigned int rows() const
Definition: jacobian.cpp:70
This class encapsulates a tree kinematic interconnection structure.
Definition: tree.hpp:100
Definition: segment.hpp:46
std::istream & operator>>(std::istream &is, Vector &v)
Definition: frames_io.cpp:154
const std::string & getName() const
Request the name of the segment.
Definition: segment.hpp:108
std::ostream & operator<<(std::ostream &os, const VectorAcc &r)
Definition: frameacc_io.hpp:49
const std::string getTypeName() const
Request the stringified type of the joint.
Definition: joint.hpp:169
#define GetTreeElementQNr(tree_element)
Definition: tree.hpp:61
Vector JointAxis() const
Request the Vector corresponding to the axis of a revolute joint.
Definition: joint.cpp:131
Definition: jacobian.hpp:37