mathprnt.h Source File

00001 /* Prototypes for math printing functions */
00002 
00003 /*
00004    Modification history:
00005 
00006     9-Jan-1998 WPS forces VxWorks to use C function calls io streams are
00007     not available.
00008   16-May-1997 WPS added #ifdef __cplusplus #define __CPLUSPLUS__
00009   all ANSI C++ compilers define __cplusplus automatically so it
00010   makes more sense to use than __CPLUSPLUS__ which needs to be
00011   defined separately.
00012   14-Apr-1997  FMP took out legacy math_print stuff
00013    10-Feb-1997  FMP added C++ stuff
00014    4-Nov-1996  Fred Proctor added math_printError()
00015 */
00016 
00017 #ifndef MATHPRNT_H
00018 #define MATHPRNT_H
00019 
00020 #include "posemath.h"
00021 
00022 #ifdef __cplusplus
00023 #ifndef __CPLUSPLUS__
00024 #define __CPLUSPLUS__
00025 #endif
00026 #endif
00027 
00028 #if defined(__CPLUSPLUS__) && !defined(VXWORKS) && !defined(gnuwin32) && !defined(NO_IOSTREAM)
00029 
00030 #include <iostream.h>
00031 
00032 extern ostream & operator << (ostream & stream, PM_CARTESIAN v);
00033 extern ostream & operator << (ostream & stream, PM_SPHERICAL s);
00034 extern ostream & operator << (ostream & stream, PM_CYLINDRICAL c);
00035 extern ostream & operator << (ostream & stream, PM_QUATERNION q);
00036 extern ostream & operator << (ostream & stream, PM_ROTATION_VECTOR r);
00037 extern ostream & operator << (ostream & stream, PM_ROTATION_MATRIX m);
00038 extern ostream & operator << (ostream & stream, PM_EULER_ZYZ zyz);
00039 extern ostream & operator << (ostream & stream, PM_EULER_ZYX zyx);
00040 extern ostream & operator << (ostream & stream, PM_RPY rpy);
00041 extern ostream & operator << (ostream & stream, PM_POSE pose);
00042 extern ostream & operator << (ostream & stream, PM_HOMOGENEOUS hom);
00043 
00044 #else  /* end of C++ */
00045 
00046 #ifdef __cplusplus
00047 #ifdef EXTERN_C_STD_HEADERS
00048 extern "C" {
00049 #endif
00050 #endif
00051 
00052 #include <stdio.h>
00053 
00054 #ifdef __cplusplus
00055 #ifdef EXTERN_C_STD_HEADERS
00056 }
00057 #endif
00058 #endif
00059 
00060 
00061 #ifdef __cplusplus
00062 extern "C" {
00063 #endif
00064 
00065 extern void pmSprintf(char *string, const char *format, ...);
00066 extern void pmPrintf(const char *format, ...);
00067 extern void pmFprintf(FILE *file, const char *format, ...);
00068 
00069 #ifdef __cplusplus
00070 }
00071 #endif
00072 
00073 #endif /* no C++ */
00074 
00075 #endif /* #ifndef MATHPRNT_H */