From ddb7d5bad5a806cb14e6c9970cc253453c32a320 Mon Sep 17 00:00:00 2001
From: Florent Lamiraux <florent@laas.fr>
Date: Mon, 31 Aug 2015 08:17:20 +0200
Subject: [PATCH] In Device::operator<<, write Gripper and Handle instead of
their pointers.
---
include/hpp/manipulation/container.hh | 10 ++++++++++
include/hpp/manipulation/device.hh | 12 +-----------
src/device.cc | 14 ++++++++++++++
3 files changed, 25 insertions(+), 11 deletions(-)
diff --git a/include/hpp/manipulation/container.hh b/include/hpp/manipulation/container.hh
index d9d8b5f..a68751a 100644
--- a/include/hpp/manipulation/container.hh
+++ b/include/hpp/manipulation/container.hh
@@ -71,6 +71,16 @@ namespace hpp {
return os;
}
+ /// Print object in a stream
+ std::ostream& printPointer (std::ostream& os) const
+ {
+ for (typename ElementMap_t::const_iterator it = map_.begin ();
+ it != map_.end (); ++it) {
+ os << it->first << " : " << *(it->second) << std::endl;
+ }
+ return os;
+ }
+
protected:
/// Constructor
Container () : map_ ()
diff --git a/include/hpp/manipulation/device.hh b/include/hpp/manipulation/device.hh
index 3617237..e184891 100644
--- a/include/hpp/manipulation/device.hh
+++ b/include/hpp/manipulation/device.hh
@@ -52,17 +52,7 @@ namespace hpp {
}
/// Print object in a stream
- virtual std::ostream& print (std::ostream& os) const
- {
- Parent_t::print (os);
- // print handles
- os << "Handles:" << std::endl;
- Container <HandlePtr_t>::print (os);
- // print grippers
- os << "Grippers:" << std::endl;
- Container <model::GripperPtr_t>::print (os);
- return os;
- }
+ virtual std::ostream& print (std::ostream& os) const;
/// \name Accessors to container elements
/// Contained elements are of type model::Gripper, Handle and
diff --git a/src/device.cc b/src/device.cc
index 9d73727..392d89f 100644
--- a/src/device.cc
+++ b/src/device.cc
@@ -17,7 +17,9 @@
// hpp-manipulation. If not, see
// <http://www.gnu.org/licenses/>.
+#include <hpp/model/gripper.hh>
#include <hpp/manipulation/device.hh>
+#include <hpp/manipulation/handle.hh>
#include <hpp/model/joint.hh>
@@ -49,5 +51,17 @@ namespace hpp {
}
jointCache_.clear ();
}
+ std::ostream& Device::print (std::ostream& os) const
+ {
+ Parent_t::print (os);
+ // print handles
+ os << "Handles:" << std::endl;
+ Container <HandlePtr_t>::printPointer (os);
+ // print grippers
+ os << "Grippers:" << std::endl;
+ Container <model::GripperPtr_t>::printPointer (os);
+ return os;
+ }
+
} // namespace manipulation
} // namespace hpp
--
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