49 for(
unsigned int i=0;i<arg.nrOfSegments;i++)
59 nrOfJoints +=
segment.getJoint().getNDof();
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
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