void addChain(const Chain &chain)
Adds a complete chain to the end of the chain The added chain is copied.
Definition chain.cpp:61
const Segment & getSegment(unsigned int nr) const
Request the nr'd segment of the chain.
Definition chain.cpp:67
unsigned int nrOfJoints
Definition chain.hpp:37
Chain()
The constructor of a chain, a new chain is always empty.
Definition chain.cpp:26
unsigned int getNrOfJoints() const
Request the total number of joints in the chain.
Definition chain.hpp:71
virtual ~Chain()
Definition chain.cpp:77
Chain & operator=(const Chain &arg)
Definition chain.cpp:42
void addSegment(const Segment &segment)
Adds a new segment to the end of the chain.
Definition chain.cpp:53
unsigned int getNrOfSegments() const
Request the total number of segments in the chain.
Definition chain.hpp:76
std::vector< Segment > segments
Definition chain.hpp:40
unsigned int nrOfSegments
Definition chain.hpp:38
Definition segment.hpp:46
Definition articulatedbodyinertia.cpp:26