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mathprnt.cc

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/*
  Modification History:

  14-Apr-1997  FMP created from C++ portion of mathprnt.c
*/



#ifndef NO_IOSTREAM
#include <iostream.h>
#include "posemath.h"
#include "mathprnt.h"



ostream & operator << (ostream & stream, PM_CARTESIAN v)
{
  stream << v.x << "\t" << v.y << "\t" << v.z ;

  return stream;
}

ostream & operator << (ostream & stream, PM_SPHERICAL s)
{
  stream << s.theta << "\t" << s.phi << "\t" << s.r ;

  return stream;
}

ostream & operator << (ostream & stream, PM_CYLINDRICAL c)
{
  stream << c.theta << "\t" << c.r << "\t" << c.z ;

  return stream;
}

ostream & operator << (ostream & stream, PM_QUATERNION q)
{
  stream << q.s << "\t" << q.x << "\t" << q.y << "\t" << q.z ;

  return stream;
}

ostream & operator << (ostream & stream, PM_ROTATION_VECTOR r)
{
  stream << r.s << "\t" << r.x << "\t" << r.y << "\t" << r.z ;

  return stream;
}

ostream & operator << (ostream & stream, PM_ROTATION_MATRIX m)
{
  int row, col;

  for (col = 0; col < 3; col++)
  {
    for (row = 0; row < 3; row++)
    {
      stream << m[row][col] << "\t";
    }
    stream << endl;
  }

  return stream;
}

ostream & operator << (ostream & stream, PM_EULER_ZYZ zyz)
{
  stream << zyz.z << "\t" << zyz.y << "\t" << zyz.zp ;

  return stream;
}

ostream & operator << (ostream & stream, PM_EULER_ZYX zyx)
{
  stream << zyx.z << "\t" << zyx.y << "\t" << zyx.x ;

  return stream;
}

ostream & operator << (ostream & stream, PM_RPY rpy)
{
  stream << rpy.r << "\t" << rpy.p << "\t" << rpy.y ;

  return stream;
}

ostream & operator << (ostream & stream, PM_POSE pose)
{
  stream << pose.tran << "\t" << pose.rot ;

  return stream;
}

ostream & operator << (ostream & stream, PM_HOMOGENEOUS hom)
{
  int row, col;

  for (col = 0; col < 4; col++)
  {
    for (row = 0; row < 4; row++)
    {
      stream << hom[row][col] << "\t";
    }
    stream << endl;
  }

  return stream;
}

 // NO_IOSTREAM not defined
#endif

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