38 os <<
"[" <<
segment.getJoint() <<
",\n" <<
segment.getFrameToTip() <<
"]";
59 SegmentMap::const_iterator root =
tree.getSegment(
"root");
63 std::ostream&
operator <<(std::ostream& os, SegmentMap::const_iterator root) {
65 os << root->first<<
"(q_nr: "<<root->second.q_nr<<
")"<<
"\n \t";
66 for (
unsigned int i = 0; i < root->second.children.size(); i++) {
67 os <<(root->second.children[i])<<
"\t";
78 for (
unsigned int i = 0; i <
array.rows(); i++)
90 for (
unsigned int i = 0; i < jac.
rows(); i++) {
91 for (
unsigned int j = 0; j < jac.
columns(); j++)
This class encapsulates a serial kinematic interconnection structure. It is build out of segments.
const Segment & getSegment(unsigned int nr) const
unsigned int getNrOfSegments() const
unsigned int columns() const
unsigned int rows() const
This class encapsulates a simple joint, that is with one parameterized degree of freedom and with sca...
const std::string getTypeName() const
This class encapsulates a simple segment, that is a "rigid body" (i.e., a frame and an inertia) with...
This class encapsulates a tree kinematic interconnection structure. It is build out of segments.
Segment< FEdge *, Vec3r > segment
std::ostream & operator<<(std::ostream &os, const Vector &v)
std::istream & operator>>(std::istream &is, Vector &v)