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mathprnt.cc File Reference

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

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Functions

ostream & operator<< (ostream &stream, PM_CARTESIAN v)
ostream & operator<< (ostream &stream, PM_SPHERICAL s)
ostream & operator<< (ostream &stream, PM_CYLINDRICAL c)
ostream & operator<< (ostream &stream, PM_QUATERNION q)
ostream & operator<< (ostream &stream, PM_ROTATION_VECTOR r)
ostream & operator<< (ostream &stream, PM_ROTATION_MATRIX m)
ostream & operator<< (ostream &stream, PM_EULER_ZYZ zyz)
ostream & operator<< (ostream &stream, PM_EULER_ZYX zyx)
ostream & operator<< (ostream &stream, PM_RPY rpy)
ostream & operator<< (ostream &stream, PM_POSE pose)
ostream & operator<< (ostream &stream, PM_HOMOGENEOUS hom)

Function Documentation

ostream& operator<< (  ostream &    stream,
PM_CARTESIAN    v
) 
 

Definition at line 17 of file mathprnt.cc.

00018 {
00019   stream << v.x << "\t" << v.y << "\t" << v.z ;
00020 
00021   return stream;
00022 }

ostream& operator<< (  ostream &    stream,
PM_SPHERICAL    s
) 
 

Definition at line 24 of file mathprnt.cc.

00025 {
00026   stream << s.theta << "\t" << s.phi << "\t" << s.r ;
00027 
00028   return stream;
00029 }

ostream& operator<< (  ostream &    stream,
PM_CYLINDRICAL    c
) 
 

Definition at line 31 of file mathprnt.cc.

00032 {
00033   stream << c.theta << "\t" << c.r << "\t" << c.z ;
00034 
00035   return stream;
00036 }

ostream& operator<< (  ostream &    stream,
PM_QUATERNION    q
) 
 

Definition at line 38 of file mathprnt.cc.

00039 {
00040   stream << q.s << "\t" << q.x << "\t" << q.y << "\t" << q.z ;
00041 
00042   return stream;
00043 }

ostream& operator<< (  ostream &    stream,
PM_ROTATION_VECTOR    r
) 
 

Definition at line 45 of file mathprnt.cc.

00046 {
00047   stream << r.s << "\t" << r.x << "\t" << r.y << "\t" << r.z ;
00048 
00049   return stream;
00050 }

ostream& operator<< (  ostream &    stream,
PM_ROTATION_MATRIX    m
) 
 

Definition at line 52 of file mathprnt.cc.

00053 {
00054   int row, col;
00055 
00056   for (col = 0; col < 3; col++)
00057   {
00058     for (row = 0; row < 3; row++)
00059     {
00060       stream << m[row][col] << "\t";
00061     }
00062     stream << endl;
00063   }
00064 
00065   return stream;
00066 }

ostream& operator<< (  ostream &    stream,
PM_EULER_ZYZ    zyz
) 
 

Definition at line 68 of file mathprnt.cc.

00069 {
00070   stream << zyz.z << "\t" << zyz.y << "\t" << zyz.zp ;
00071 
00072   return stream;
00073 }

ostream& operator<< (  ostream &    stream,
PM_EULER_ZYX    zyx
) 
 

Definition at line 75 of file mathprnt.cc.

00076 {
00077   stream << zyx.z << "\t" << zyx.y << "\t" << zyx.x ;
00078 
00079   return stream;
00080 }

ostream& operator<< (  ostream &    stream,
PM_RPY    rpy
) 
 

Definition at line 82 of file mathprnt.cc.

00083 {
00084   stream << rpy.r << "\t" << rpy.p << "\t" << rpy.y ;
00085 
00086   return stream;
00087 }

ostream& operator<< (  ostream &    stream,
PM_POSE    pose
) 
 

Definition at line 89 of file mathprnt.cc.

00090 {
00091   stream << pose.tran << "\t" << pose.rot ;
00092 
00093   return stream;
00094 }

ostream& operator<< (  ostream &    stream,
PM_HOMOGENEOUS    hom
) 
 

Definition at line 96 of file mathprnt.cc.

00097 {
00098   int row, col;
00099 
00100   for (col = 0; col < 4; col++)
00101   {
00102     for (row = 0; row < 4; row++)
00103     {
00104       stream << hom[row][col] << "\t";
00105     }
00106     stream << endl;
00107   }
00108 
00109   return stream;
00110 }

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