30 #ifndef _RL_KIN_KINEMATICS_H_
31 #define _RL_KIN_KINEMATICS_H_
35 #include <boost/shared_ptr.hpp>
36 #include <boost/graph/adjacency_list.hpp>
53 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
68 bool areColliding(const ::std::size_t& i, const ::std::size_t& j)
const;
131 ::std::size_t
getDof()
const;
261 void setColliding(const ::std::size_t& i,
const bool& doesCollide);
266 void setColliding(const ::std::size_t& i, const ::std::size_t& j,
const bool& doCollide);
324 typedef ::boost::adjacency_list<
327 ::boost::bidirectionalS,
328 ::boost::shared_ptr< Frame >,
329 ::boost::shared_ptr< Transform >,
330 ::boost::no_property,
334 typedef ::boost::graph_traits< Tree >::edge_descriptor
Edge;
348 typedef ::boost::graph_traits< Tree >::vertex_descriptor
Vertex;
390 #endif // _RL_KIN_KINEMATICS_H_