At the moment vector<Link<DataType>> link contains all the links in the kinematic tree, whereas vector<Link<DataType>> activeLink contains the reduced link list after merging those with fixed joints.
For clarity the "active" link list should just be called link to avoid confusion in the forward kinematics and inverse dynamics algorithm.
Woolfrey
commented
1 year ago
At the moment
vector<Link<DataType>> linkcontains all the links in the kinematic tree, whereasvector<Link<DataType>> activeLinkcontains the reduced link list after merging those with fixed joints.For clarity the "active" link list should just be called
linkto avoid confusion in the forward kinematics and inverse dynamics algorithm.