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...
This class encapsulates a serial kinematic interconnection structure. It is built out of segments...
unsigned int nrOfSegments
unsigned int getNrOfSegments() const
void addSegment(const Segment &segment)
void addChain(const Chain &chain)
unsigned int getNrOfJoints() const
std::vector< Segment > segments
Chain & operator=(const Chain &arg)