#include </local/robotpkg/var/tmp/robotpkg/math/jrl-dynamics/work/jrl-dynamics-1.25.0/doc/additionalDoc/JointPrivate.hh>
This class implements an abstract Joint class with the following functionnalities:
An optimized derivation of the RNEA is possible by overloading the following methods:
Each of this method is called only if appropriate flags are set inside the library. This allows partial computation of the quantities.