Gazebo Physics

API Reference

8.0.0
FrameData.hh
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1/*
2 * Copyright (C) 2017 Open Source Robotics Foundation
3 *
4 * Licensed under the Apache License, Version 2.0 (the "License");
5 * you may not use this file except in compliance with the License.
6 * You may obtain a copy of the License at
7 *
8 * http://www.apache.org/licenses/LICENSE-2.0
9 *
10 * Unless required by applicable law or agreed to in writing, software
11 * distributed under the License is distributed on an "AS IS" BASIS,
12 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
13 * See the License for the specific language governing permissions and
14 * limitations under the License.
15 *
16*/
17
18#ifndef GZ_PHYSICS_FRAMEDATA_HH_
19#define GZ_PHYSICS_FRAMEDATA_HH_
20
22
23namespace gz
24{
25 namespace physics
26 {
27
41 template <typename Scalar, std::size_t Dim>
72
73 template <typename Scalar, std::size_t Dim>
75 const FrameData<Scalar, Dim> &_frame)
76 {
77 stream
78 << "Pose:\n" << _frame.pose.matrix()
79 << "\nLinear Velocity: " << _frame.linearVelocity.transpose()
80 << "\nAngular Velocity: " << _frame.angularVelocity.transpose()
81 << "\nLinear Acceleration: " << _frame.linearAcceleration.transpose()
82 << "\nAngular Acceleration: " << _frame.angularAcceleration.transpose();
83
84 return stream;
85 }
86 }
87}
88
89#include <gz/physics/detail/FrameData.hh>
90
91#endif