Blender  V3.3
frames_io.cpp
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1 
5 /***************************************************************************
6  frames_io.h - description
7  -------------------------
8  begin : June 2006
9  copyright : (C) 2006 Erwin Aertbelien
10  email : firstname.lastname@mech.kuleuven.ac.be
11 
12  History (only major changes)( AUTHOR-Description ) :
13 
14  ***************************************************************************
15  * This library is free software; you can redistribute it and/or *
16  * modify it under the terms of the GNU Lesser General Public *
17  * License as published by the Free Software Foundation; either *
18  * version 2.1 of the License, or (at your option) any later version. *
19  * *
20  * This library is distributed in the hope that it will be useful, *
21  * but WITHOUT ANY WARRANTY; without even the implied warranty of *
22  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU *
23  * Lesser General Public License for more details. *
24  * *
25  * You should have received a copy of the GNU Lesser General Public *
26  * License along with this library; if not, write to the Free Software *
27  * Foundation, Inc., 51 Franklin Street, *
28  * Fifth Floor, Boston, MA 02110-1301, USA. *
29  * *
30  ***************************************************************************/
31 
32 #include "utilities/error.h"
33 #include "utilities/error_stack.h"
34 #include "frames.hpp"
35 #include "frames_io.hpp"
36 
37 #include <stdlib.h>
38 #include <ctype.h>
39 #include <string.h>
40 #include <iostream>
41 
42 namespace KDL {
43 
44 
45 std::ostream& operator << (std::ostream& os,const Vector& v) {
46  os << "[" << std::setw(KDL_FRAME_WIDTH) << v(0) << "," << std::setw(KDL_FRAME_WIDTH)<<v(1)
47  << "," << std::setw(KDL_FRAME_WIDTH) << v(2) << "]";
48  return os;
49 }
50 
51 std::ostream& operator << (std::ostream& os,const Twist& v) {
52  os << "[" << std::setw(KDL_FRAME_WIDTH) << v.vel(0)
53  << "," << std::setw(KDL_FRAME_WIDTH) << v.vel(1)
54  << "," << std::setw(KDL_FRAME_WIDTH) << v.vel(2)
55  << "," << std::setw(KDL_FRAME_WIDTH) << v.rot(0)
56  << "," << std::setw(KDL_FRAME_WIDTH) << v.rot(1)
57  << "," << std::setw(KDL_FRAME_WIDTH) << v.rot(2)
58  << "]";
59  return os;
60 }
61 
62 std::ostream& operator << (std::ostream& os,const Wrench& v) {
63  os << "[" << std::setw(KDL_FRAME_WIDTH) << v.force(0)
64  << "," << std::setw(KDL_FRAME_WIDTH) << v.force(1)
65  << "," << std::setw(KDL_FRAME_WIDTH) << v.force(2)
66  << "," << std::setw(KDL_FRAME_WIDTH) << v.torque(0)
67  << "," << std::setw(KDL_FRAME_WIDTH) << v.torque(1)
68  << "," << std::setw(KDL_FRAME_WIDTH) << v.torque(2)
69  << "]";
70  return os;
71 }
72 
73 
74 std::ostream& operator << (std::ostream& os,const Rotation& R) {
75 #ifdef KDL_ROTATION_PROPERTIES_RPY
76  double r,p,y;
77  R.GetRPY(r,p,y);
78  os << "[RPY]"<<endl;
79  os << "[";
80  os << std::setw(KDL_FRAME_WIDTH) << r << ",";
81  os << std::setw(KDL_FRAME_WIDTH) << p << ",";
82  os << std::setw(KDL_FRAME_WIDTH) << y << "]";
83 #else
84 # ifdef KDL_ROTATION_PROPERTIES_EULER
85  double z,y,x;
86  R.GetEulerZYX(z,y,x);
87  os << "[EULERZYX]"<<endl;
88  os << "[";
89  os << std::setw(KDL_FRAME_WIDTH) << z << ",";
90  os << std::setw(KDL_FRAME_WIDTH) << y << ",";
91  os << std::setw(KDL_FRAME_WIDTH) << x << "]";
92 # else
93  os << "[";
94  for (int i=0;i<=2;i++) {
95  os << std::setw(KDL_FRAME_WIDTH) << R(i,0) << "," <<
96  std::setw(KDL_FRAME_WIDTH) << R(i,1) << "," <<
97  std::setw(KDL_FRAME_WIDTH) << R(i,2);
98  if (i<2)
99  os << ";"<< std::endl << " ";
100  else
101  os << "]";
102  }
103 # endif
104 #endif
105  return os;
106 }
107 
108 std::ostream& operator << (std::ostream& os, const Frame& T)
109 {
110  os << "[" << T.M << std::endl<< T.p << "]";
111  return os;
112 }
113 
114 std::ostream& operator << (std::ostream& os,const Vector2& v) {
115  os << "[" << std::setw(KDL_FRAME_WIDTH) << v(0) << "," << std::setw(KDL_FRAME_WIDTH)<<v(1)
116  << "]";
117  return os;
118 }
119 
120 // Rotation2 gives back an angle in degrees with the << and >> operators.
121 std::ostream& operator << (std::ostream& os,const Rotation2& R) {
122  os << "[" << R.GetRot()*rad2deg << "]";
123  return os;
124 }
125 
126 std::ostream& operator << (std::ostream& os, const Frame2& T)
127 {
128  os << T.M << T.p;
129  return os;
130 }
131 
132 std::istream& operator >> (std::istream& is,Vector& v)
133 { IOTrace("Stream input Vector (vector or ZERO)");
134  char storage[10];
135  EatWord(is,"[]",storage,10);
136  if (storage[0]=='\0') {
137  Eat(is,'[');
138  is >> v(0);
139  Eat(is,',');
140  is >> v(1);
141  Eat(is,',');
142  is >> v(2);
143  EatEnd(is,']');
144  IOTracePop();
145  return is;
146  }
147  if (strcmp(storage,"ZERO")==0) {
148  v = Vector::Zero();
149  IOTracePop();
150  return is;
151  }
153 }
154 
155 std::istream& operator >> (std::istream& is,Twist& v)
156 { IOTrace("Stream input Twist");
157  Eat(is,'[');
158  is >> v.vel(0);
159  Eat(is,',');
160  is >> v.vel(1);
161  Eat(is,',');
162  is >> v.vel(2);
163  Eat(is,',');
164  is >> v.rot(0);
165  Eat(is,',');
166  is >> v.rot(1);
167  Eat(is,',');
168  is >> v.rot(2);
169  EatEnd(is,']');
170  IOTracePop();
171  return is;
172 }
173 
174 std::istream& operator >> (std::istream& is,Wrench& v)
175 { IOTrace("Stream input Wrench");
176  Eat(is,'[');
177  is >> v.force(0);
178  Eat(is,',');
179  is >> v.force(1);
180  Eat(is,',');
181  is >> v.force(2);
182  Eat(is,',');
183  is >> v.torque(0);
184  Eat(is,',');
185  is >> v.torque(1);
186  Eat(is,',');
187  is >> v.torque(2);
188  EatEnd(is,']');
189  IOTracePop();
190  return is;
191 }
192 
193 std::istream& operator >> (std::istream& is,Rotation& r)
194 { IOTrace("Stream input Rotation (Matrix or EULERZYX, EULERZYZ,RPY, ROT, IDENTITY)");
195  char storage[10];
196  EatWord(is,"[]",storage,10);
197  if (storage[0]=='\0') {
198  Eat(is,'[');
199  for (int i=0;i<3;i++) {
200  is >> r(i,0);
201  Eat(is,',') ;
202  is >> r(i,1);
203  Eat(is,',');
204  is >> r(i,2);
205  if (i<2)
206  Eat(is,';');
207  else
208  EatEnd(is,']');
209  }
210  IOTracePop();
211  return is;
212  }
213  Vector v;
214  if (strcmp(storage,"EULERZYX")==0) {
215  is >> v;
216  v=v*deg2rad;
217  r = Rotation::EulerZYX(v(0),v(1),v(2));
218  IOTracePop();
219  return is;
220  }
221  if (strcmp(storage,"EULERZYZ")==0) {
222  is >> v;
223  v=v*deg2rad;
224  r = Rotation::EulerZYZ(v(0),v(1),v(2));
225  IOTracePop();
226  return is;
227  }
228  if (strcmp(storage,"RPY")==0) {
229  is >> v;
230  v=v*deg2rad;
231  r = Rotation::RPY(v(0),v(1),v(2));
232  IOTracePop();
233  return is;
234  }
235  if (strcmp(storage,"ROT")==0) {
236  is >> v;
237  double angle;
238  Eat(is,'[');
239  is >> angle;
240  EatEnd(is,']');
242  IOTracePop();
243  return is;
244  }
245  if (strcmp(storage,"IDENTITY")==0) {
246  r = Rotation::Identity();
247  IOTracePop();
248  return is;
249  }
251  return is;
252 }
253 
254 std::istream& operator >> (std::istream& is,Frame& T)
255 { IOTrace("Stream input Frame (Rotation,Vector) or DH[...]");
256  char storage[10];
257  EatWord(is,"[",storage,10);
258  if (storage[0]=='\0') {
259  Eat(is,'[');
260  is >> T.M;
261  is >> T.p;
262  EatEnd(is,']');
263  IOTracePop();
264  return is;
265  }
266  if (strcmp(storage,"DH")==0) {
267  double a,alpha,d,theta;
268  Eat(is,'[');
269  is >> a;
270  Eat(is,',');
271  is >> alpha;
272  Eat(is,',');
273  is >> d;
274  Eat(is,',');
275  is >> theta;
276  EatEnd(is,']');
277  T = Frame::DH(a,alpha*deg2rad,d,theta*deg2rad);
278  IOTracePop();
279  return is;
280  }
282  return is;
283 }
284 
285 std::istream& operator >> (std::istream& is,Vector2& v)
286 { IOTrace("Stream input Vector2");
287  Eat(is,'[');
288  is >> v(0);
289  Eat(is,',');
290  is >> v(1);
291  EatEnd(is,']');
292  IOTracePop();
293  return is;
294 }
295 std::istream& operator >> (std::istream& is,Rotation2& r)
296 { IOTrace("Stream input Rotation2");
297  Eat(is,'[');
298  double val;
299  is >> val;
300  r.Rot(val*deg2rad);
301  EatEnd(is,']');
302  IOTracePop();
303  return is;
304 }
305 std::istream& operator >> (std::istream& is,Frame2& T)
306 { IOTrace("Stream input Frame2");
307  is >> T.M;
308  is >> T.p;
309  IOTracePop();
310  return is;
311 }
312 
313 } // namespace Frame
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_GL_VOID GLfloat value _GL_VOID_RET _GL_VOID const GLuint GLboolean *residences _GL_BOOL_RET _GL_VOID GLsizei GLfloat GLfloat GLfloat GLfloat const GLubyte *bitmap _GL_VOID_RET _GL_VOID GLenum const void *lists _GL_VOID_RET _GL_VOID const GLdouble *equation _GL_VOID_RET _GL_VOID GLdouble GLdouble blue _GL_VOID_RET _GL_VOID GLfloat GLfloat blue _GL_VOID_RET _GL_VOID GLint GLint blue _GL_VOID_RET _GL_VOID GLshort GLshort blue _GL_VOID_RET _GL_VOID GLubyte GLubyte blue _GL_VOID_RET _GL_VOID GLuint GLuint blue _GL_VOID_RET _GL_VOID GLushort GLushort blue _GL_VOID_RET _GL_VOID GLbyte GLbyte GLbyte alpha _GL_VOID_RET _GL_VOID GLdouble GLdouble GLdouble alpha _GL_VOID_RET _GL_VOID GLfloat GLfloat GLfloat alpha _GL_VOID_RET _GL_VOID GLint GLint GLint alpha _GL_VOID_RET _GL_VOID GLshort GLshort GLshort alpha _GL_VOID_RET _GL_VOID GLubyte GLubyte GLubyte alpha _GL_VOID_RET _GL_VOID GLuint GLuint GLuint alpha _GL_VOID_RET _GL_VOID GLushort GLushort GLushort alpha _GL_VOID_RET _GL_VOID GLenum mode _GL_VOID_RET _GL_VOID GLint GLsizei GLsizei GLenum type _GL_VOID_RET _GL_VOID GLsizei GLenum GLenum const void *pixels _GL_VOID_RET _GL_VOID const void *pointer _GL_VOID_RET _GL_VOID GLdouble v _GL_VOID_RET _GL_VOID GLfloat v _GL_VOID_RET _GL_VOID GLint GLint i2 _GL_VOID_RET _GL_VOID GLint j _GL_VOID_RET _GL_VOID GLfloat param _GL_VOID_RET _GL_VOID GLint param _GL_VOID_RET _GL_VOID GLdouble GLdouble GLdouble GLdouble GLdouble zFar _GL_VOID_RET _GL_UINT GLdouble *equation _GL_VOID_RET _GL_VOID GLenum GLint *params _GL_VOID_RET _GL_VOID GLenum GLfloat *v _GL_VOID_RET _GL_VOID GLenum GLfloat *params _GL_VOID_RET _GL_VOID GLfloat *values _GL_VOID_RET _GL_VOID GLushort *values _GL_VOID_RET _GL_VOID GLenum GLfloat *params _GL_VOID_RET _GL_VOID GLenum GLdouble *params _GL_VOID_RET _GL_VOID GLenum GLint *params _GL_VOID_RET _GL_VOID GLsizei const void *pointer _GL_VOID_RET _GL_VOID GLsizei const void *pointer _GL_VOID_RET _GL_BOOL GLfloat param _GL_VOID_RET _GL_VOID GLint param _GL_VOID_RET _GL_VOID GLenum GLfloat param _GL_VOID_RET _GL_VOID GLenum GLint param _GL_VOID_RET _GL_VOID GLushort pattern _GL_VOID_RET _GL_VOID GLdouble GLdouble GLint GLint const GLdouble *points _GL_VOID_RET _GL_VOID GLdouble GLdouble GLint GLint GLdouble GLdouble GLint GLint const GLdouble *points _GL_VOID_RET _GL_VOID GLdouble GLdouble u2 _GL_VOID_RET _GL_VOID GLdouble GLdouble GLint GLdouble GLdouble v2 _GL_VOID_RET _GL_VOID GLenum GLfloat param _GL_VOID_RET _GL_VOID GLenum GLint param _GL_VOID_RET _GL_VOID GLenum mode _GL_VOID_RET _GL_VOID GLdouble GLdouble nz _GL_VOID_RET _GL_VOID GLfloat GLfloat nz _GL_VOID_RET _GL_VOID GLint GLint nz _GL_VOID_RET _GL_VOID GLshort GLshort nz _GL_VOID_RET _GL_VOID GLsizei const void *pointer _GL_VOID_RET _GL_VOID GLsizei const GLfloat *values _GL_VOID_RET _GL_VOID GLsizei const GLushort *values _GL_VOID_RET _GL_VOID GLint param _GL_VOID_RET _GL_VOID const GLuint const GLclampf *priorities _GL_VOID_RET _GL_VOID GLdouble y _GL_VOID_RET _GL_VOID GLfloat y _GL_VOID_RET _GL_VOID GLint y _GL_VOID_RET _GL_VOID GLshort y _GL_VOID_RET _GL_VOID GLdouble GLdouble z _GL_VOID_RET _GL_VOID GLfloat GLfloat z _GL_VOID_RET _GL_VOID GLint GLint z _GL_VOID_RET _GL_VOID GLshort GLshort z _GL_VOID_RET _GL_VOID GLdouble GLdouble GLdouble w _GL_VOID_RET _GL_VOID GLfloat GLfloat GLfloat w _GL_VOID_RET _GL_VOID GLint GLint GLint w _GL_VOID_RET _GL_VOID GLshort GLshort GLshort w _GL_VOID_RET _GL_VOID GLdouble GLdouble GLdouble y2 _GL_VOID_RET _GL_VOID GLfloat GLfloat GLfloat y2 _GL_VOID_RET _GL_VOID GLint GLint GLint y2 _GL_VOID_RET _GL_VOID GLshort GLshort GLshort y2 _GL_VOID_RET _GL_VOID GLdouble GLdouble GLdouble z _GL_VOID_RET _GL_VOID GLdouble GLdouble z _GL_VOID_RET _GL_VOID GLuint *buffer _GL_VOID_RET _GL_VOID GLdouble t _GL_VOID_RET _GL_VOID GLfloat t _GL_VOID_RET _GL_VOID GLint t _GL_VOID_RET _GL_VOID GLshort t _GL_VOID_RET _GL_VOID GLdouble GLdouble r _GL_VOID_RET _GL_VOID GLfloat GLfloat r _GL_VOID_RET _GL_VOID GLint GLint r _GL_VOID_RET _GL_VOID GLshort GLshort r _GL_VOID_RET _GL_VOID GLdouble GLdouble r
_GL_VOID GLfloat value _GL_VOID_RET _GL_VOID const GLuint GLboolean *residences _GL_BOOL_RET _GL_VOID GLsizei GLfloat GLfloat GLfloat GLfloat const GLubyte *bitmap _GL_VOID_RET _GL_VOID GLenum const void *lists _GL_VOID_RET _GL_VOID const GLdouble *equation _GL_VOID_RET _GL_VOID GLdouble GLdouble blue _GL_VOID_RET _GL_VOID GLfloat GLfloat blue _GL_VOID_RET _GL_VOID GLint GLint blue _GL_VOID_RET _GL_VOID GLshort GLshort blue _GL_VOID_RET _GL_VOID GLubyte GLubyte blue _GL_VOID_RET _GL_VOID GLuint GLuint blue _GL_VOID_RET _GL_VOID GLushort GLushort blue _GL_VOID_RET _GL_VOID GLbyte GLbyte GLbyte alpha _GL_VOID_RET _GL_VOID GLdouble GLdouble GLdouble alpha _GL_VOID_RET _GL_VOID GLfloat GLfloat GLfloat alpha _GL_VOID_RET _GL_VOID GLint GLint GLint alpha _GL_VOID_RET _GL_VOID GLshort GLshort GLshort alpha _GL_VOID_RET _GL_VOID GLubyte GLubyte GLubyte alpha _GL_VOID_RET _GL_VOID GLuint GLuint GLuint alpha _GL_VOID_RET _GL_VOID GLushort GLushort GLushort alpha _GL_VOID_RET _GL_VOID GLenum mode _GL_VOID_RET _GL_VOID GLint y
ATTR_WARN_UNUSED_RESULT const BMVert * v
SIMD_FORCE_INLINE btScalar angle(const btVector3 &v) const
Return the angle between this and another vector.
Definition: btVector3.h:356
represents a frame transformation in 3D space (rotation + translation)
Definition: frames.hpp:526
static Frame DH(double a, double alpha, double d, double theta)
Definition: frames.cpp:70
represents rotations in 3 dimensional space.
Definition: frames.hpp:299
static Rotation EulerZYX(double Alfa, double Beta, double Gamma)
Definition: frames.hpp:435
static Rotation Identity()
Gives back an identity rotaton matrix.
Definition: frames.inl:556
static Rotation Rot(const Vector &rotaxis, double angle)
Definition: frames.cpp:250
static Rotation EulerZYZ(double Alfa, double Beta, double Gamma)
Definition: frames.cpp:220
static Rotation RPY(double roll, double pitch, double yaw)
Definition: frames.cpp:195
represents both translational and rotational velocities.
Definition: frames.hpp:679
2D version of Vector
Definition: frames.hpp:916
A concrete implementation of a 3 dimensional vector class.
Definition: frames.hpp:143
static Vector Zero()
Definition: frames.inl:154
represents both translational and rotational acceleration.
Definition: frames.hpp:835
#define KDL_FRAME_WIDTH
Definition: kdl-config.h:30
#define T
#define R
static unsigned a[3]
Definition: RandGen.cpp:78
Definition: chain.cpp:27
void EatEnd(std::istream &is, int delim)
Definition: utility_io.cpp:123
const double deg2rad
the value pi/180
Definition: utility.cpp:20
void Eat(std::istream &is, int delim)
Definition: utility_io.cpp:109
void EatWord(std::istream &is, const char *delim, char *storage, int maxsize)
Definition: utility_io.cpp:183
std::ostream & operator<<(std::ostream &os, const Vector &v)
Definition: frames_io.cpp:45
const double rad2deg
the value 180/pi
Definition: utility.cpp:21
void IOTracePop()
pops a description of the IO-stack
Definition: error_stack.cpp:39
void IOTrace(const std::string &description)
Definition: error_stack.cpp:34
std::istream & operator>>(std::istream &is, Vector &v)
Definition: frames_io.cpp:132