unsigned int nrOfSegments
Definition: chain.hpp:38
void addChain(const Chain &chain)
Adds a complete chain to the end of the chain The added chain is copied.
Definition: chain.cpp:62
unsigned int nrOfJoints
Definition: chain.hpp:37
const Joint & getJoint() const
Request the joint of the segment.
Definition: segment.hpp:118
std::vector< Segment > segments
Definition: chain.hpp:40
Definition: articulatedbodyinertia.cpp:28
unsigned int getNrOfSegments() const
Request the total number of segments in the chain.
Definition: chain.hpp:76
Chain & operator=(const Chain &arg)
Definition: chain.cpp:43
Chain()
The constructor of a chain, a new chain is always empty.
Definition: chain.cpp:27
const Segment & getSegment(unsigned int nr) const
Request the nr'd segment of the chain.
Definition: chain.cpp:68
@ None
Definition: joint.hpp:47
Definition: segment.hpp:46
void addSegment(const Segment &segment)
Adds a new segment to the end of the chain.
Definition: chain.cpp:54
const JointType & getType() const
Request the type of the joint.
Definition: joint.hpp:159
virtual ~Chain()
Definition: chain.cpp:78
unsigned int getNrOfJoints() const
Request the total number of joints in the chain.
Definition: chain.hpp:71