27 #include <Eigen/StdVector>
39 std::vector<Segment, Eigen::aligned_allocator<Segment> > segments;
40 unsigned int nrOfJoints;
41 unsigned int nrOfSegments;
This class encapsulates a serial kinematic interconnection structure. It is build out of segments.
void addChain(const Chain &chain)
const Segment & getSegment(unsigned int nr) const
unsigned int getNrOfJoints() const
Chain & operator=(const Chain &arg)
void addSegment(const Segment &segment)
unsigned int getNrOfSegments() const
This class encapsulates a simple segment, that is a "rigid body" (i.e., a frame and an inertia) with...
Segment< FEdge *, Vec3r > segment