link.h

#pragma once
 
#include <string>
#include <Eigen/Core>
#include <utility>
#include <vector>
#include <memory>
 
namespace bmpf {
    class Link {
    public:
        std::string modelPath;
        std::string name;
        std::shared_ptr<Eigen::Matrix4d> linkTransformMatrix;
        Eigen::Matrix3d inertia;
        std::vector<double> massCenter;
 
        Link(std::string model_path, std::shared_ptr<Eigen::Matrix4d> linkTransformMatrix,
             std::string name, Eigen::Matrix3d inertia, std::vector<double> massCenter
        ) : modelPath(std::move(model_path)), linkTransformMatrix(std::move(linkTransformMatrix)),
            name(std::move(name)), inertia(std::move(inertia)), massCenter(std::move(massCenter)) {}
 
        std::string toString() const;
    };
}