unsigned int nrOfSegments
void addChain(const Chain &chain)
std::vector< Segment > segments
unsigned int getNrOfSegments() const
Chain & operator=(const Chain &arg)
const Segment & getSegment(unsigned int nr) const
This class encapsulates a simple segment, that is a "rigid body" (i.e., a frame and a rigid body ine...
void addSegment(const Segment &segment)
This class encapsulates a serial kinematic interconnection structure. It is built out of segments.
unsigned int getNrOfJoints() const