DHParameters.h

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#ifndef DH_PARAMETERS_H_
#define DH_PARAMETERS_H_
 
#include <iostream>
#include <fstream>
using namespace std;
 
#include <Transformation.h>
using namespace mathtool;
 
class DHParameters {
 
  public:
 
 
    DHParameters(double _alpha = 0.0, double _a = 0.0,
        double _d = 0.0, double _theta = 0.0);
 
 
    Transformation GetTransformation() const;
 
 
    friend istream& operator>>(istream& _is, DHParameters& _d);
 
    friend ostream& operator<<(ostream& _os, const DHParameters& _d);
 
 
    double m_alpha;   
    double m_a;       
    double m_d;       
    double m_theta;   
 
 
};
 
#endif