This class encapsulates a simple segment, that is a "rigid body" (i.e., a frame and a rigid body...
Definition: segment.hpp:46
This class encapsulates a serial kinematic interconnection structure.
Definition: chain.hpp:35
unsigned int nrOfSegments
Definition: chain.hpp:38
unsigned int getNrOfSegments() const
Request the total number of segments in the chain.
Definition: chain.hpp:76
void addSegment(const Segment &segment)
Adds a new segment to the end of the chain.
Definition: chain.cpp:54
const Segment & getSegment(unsigned int nr) const
Request the nr'd segment of the chain.
Definition: chain.cpp:68
virtual ~Chain()
Definition: chain.cpp:78
unsigned int getNrOfJoints() const
Request the total number of joints in the chain.
Definition: chain.hpp:71
Definition: articulatedbodyinertia.cpp:28
unsigned int nrOfJoints
Definition: chain.hpp:37
void addChain(const Chain &chain)
Adds a complete chain to the end of the chain The added chain is copied.
Definition: chain.cpp:62
std::vector< Segment > segments
Definition: chain.hpp:40
Chain()
The constructor of a chain, a new chain is always empty.
Definition: chain.cpp:27
Chain & operator=(const Chain &arg)
Definition: chain.cpp:43