almathio.h

/*
 * Copyright (c) 2012 Aldebaran Robotics. All rights reserved.
 * Use of this source code is governed by a BSD-style license that can be
 * found in the COPYING file.
 */


#pragma once
#ifndef _LIBALMATH_ALMATH_TOOLS_ALMATHIO_H_
#define _LIBALMATH_ALMATH_TOOLS_ALMATHIO_H_

#include <iostream>
#include <sstream>

#include <almath/types/alpose2d.h>
#include <almath/types/alposition2d.h>
#include <almath/types/alposition3d.h>
#include <almath/types/alposition6d.h>
#include <almath/types/alpositionandvelocity.h>
#include <almath/types/alrotation.h>
#include <almath/types/alrotation3d.h>
#include <almath/types/altransform.h>
#include <almath/types/altransformandvelocity6d.h>
#include <almath/types/alvelocity3d.h>
#include <almath/types/alvelocity6d.h>
#include <almath/types/alquaternion.h>

namespace AL {
namespace Math {

std::ostream& operator<< (std::ostream& pStream, const Pose2D& pPos);

std::ostream& operator<< (std::ostream& pStream, const Position2D& pPos);

std::ostream& operator<< (std::ostream& pStream, const Position3D& pPos);

std::ostream& operator<< (std::ostream& pStream, const Position6D& pPos);

std::ostream& operator<< (std::ostream& pStream, const PositionAndVelocity& pPosVel);

std::ostream& operator<< (std::ostream& pStream, const Rotation& pRot);

std::ostream& operator<< (std::ostream& pStream, const Rotation3D& pRot);

std::ostream& operator<< (std::ostream& pStream, const Transform& pT);

std::ostream& operator<< (std::ostream& pStream, const TransformAndVelocity6D& pTV);

std::ostream& operator<< (std::ostream& pStream, const Velocity3D& pVel);

std::ostream& operator<< (std::ostream& pStream, const Quaternion& pQua);

std::ostream& operator<< (std::ostream& pStream, const Velocity6D& pVel);

std::string toSpaceSeparated(const Position3D& pPos);

std::string toSpaceSeparated(const Rotation3D& pPos);

std::string toSpaceSeparated(const Velocity6D& pVel);

std::string toSpaceSeparated(const Transform& pT);

std::string toSpaceSeparated(const Position6D& pPos);

std::string toSpaceSeparated(const Quaternion& pQuat);

}
}
#endif  // _LIBALMATH_ALMATH_TOOLS_ALMATHIO_H_