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...
void addSegment(const Segment &segment)
6D Inertia of a rigid body
static Frame DH_Craig1989(double a, double alpha, double d, double theta)
A concrete implementation of a 3 dimensional vector class.
This class encapsulates a simple joint, that is with one parameterized degree of freedom and with sca...