link.h

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#ifndef FCL_ARTICULATED_MODEL_LINK_H
#define FCL_ARTICULATED_MODEL_LINK_H

#include "fcl/data_types.h"
#include "fcl/collision_object.h"

#include <boost/shared_ptr.hpp>
#include <vector>

namespace fcl
{

class Joint;

class Link
{
public:
  Link(const std::string& name);

  const std::string& getName() const;
  
  void setName(const std::string& name);
  
  void addChildJoint(const boost::shared_ptr<Joint>& joint);
  
  void setParentJoint(const boost::shared_ptr<Joint>& joint);
  
  void addObject(const boost::shared_ptr<CollisionObject>& object);
  
  std::size_t getNumChildJoints() const;
  
  std::size_t getNumObjects() const;
  
protected:
  std::string name_;

  std::vector<boost::shared_ptr<CollisionObject> > objects_;

  std::vector<boost::shared_ptr<Joint> > children_joints_;

  boost::shared_ptr<Joint> parent_joint_;
};

}

#endif