tao_dump.hpp

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/*
 * Stanford Whole-Body Control Framework http://stanford-scl.sourceforge.net/
 *
 * Copyright (c) 1997-2009 Stanford University. All rights reserved.
 *
 * This program is free software: you can redistribute it and/or
 * modify it under the terms of the GNU Lesser General Public License
 * as published by the Free Software Foundation, either version 3 of
 * the License, or (at your option) any later version.
 *
 * This program is distributed in the hope that it will be useful, but
 * WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
 * Lesser General Public License for more details.
 *
 * You should have received a copy of the GNU Lesser General Public
 * License along with this program.  If not, see
 * <http://www.gnu.org/licenses/>
 */

#ifndef JSPACE_UTIL_DUMP_HPP
#define JSPACE_UTIL_DUMP_HPP

#include <iosfwd>
#include <vector>
#include <stdexcept>

class deVector6;
class deVector3;
class deQuaternion;
class deFrame;
class taoJoint;
class deMassProp;
class deMatrix3;
class taoDNode;


namespace jspace {
  
  struct STaoTreeInfo;
  
  std::string inertia_matrix_to_string(deMatrix3 const & mx);
  
  void dump_tao_tree(std::ostream & os, taoDNode * root, std::string prefix,
         bool detailed,
         std::vector<std::string> * id_to_link_name,
         std::vector<std::string> * id_to_joint_name);
  
  void dump_tao_tree_info(std::ostream & os, STaoTreeInfo * tree, std::string prefix, bool detailed);
  
  void dump_tao_tree_info_saixml(std::ostream & os, STaoTreeInfo * tree) throw(std::runtime_error);
  
  void dump_tao_tree_info_sclxml(std::ostream & os,
           std::string const & robot_name,
           std::string const & root_link_name,
           STaoTreeInfo * tree) throw(std::runtime_error);
  
}

namespace std {
  
  ostream & operator << (ostream & os, deVector6 const & vec);
  ostream & operator << (ostream & os, deVector3 const & vec);
  ostream & operator << (ostream & os, deQuaternion const & vec);
  ostream & operator << (ostream & os, deFrame const & frame);
  ostream & operator << (ostream & os, taoJoint /*const*/ & joint);
  ostream & operator << (ostream & os, deMassProp const & rhs);
  
}

#endif // JSPACE_UTIL_DUMP_HPP