link.cpp

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#include "fcl/articulated_model/link.h"

#include "fcl/articulated_model/joint.h"

namespace fcl
{

Link::Link(const std::string& name) : name_(name)
{}

const std::string& Link::getName() const
{
  return name_;
}

void Link::setName(const std::string& name)
{
  name_ = name;
}

void Link::addChildJoint(const boost::shared_ptr<Joint>& joint)
{
  children_joints_.push_back(joint);
}

void Link::setParentJoint(const boost::shared_ptr<Joint>& joint)
{
  parent_joint_ = joint;
}

void Link::addObject(const boost::shared_ptr<CollisionObject>& object)
{
  objects_.push_back(object);
}

std::size_t Link::getNumChildJoints() const
{
  return children_joints_.size();
}

std::size_t Link::getNumObjects() const
{
  return objects_.size();
}


}