Link * footLink(int index) const
Definition: LeggedBodyHelper.h:30
const Vector3 & centerOfSoleLocal(int footIndex) const
Definition: LeggedBodyHelper.h:37
int numFeet() const
Definition: LeggedBodyHelper.h:28
Link * kneePitchJoint(int footIndex) const
Definition: LeggedBodyHelper.h:32
bool isValid() const
Definition: LeggedBodyHelper.h:21
Body * body() const
Definition: LeggedBodyHelper.h:26
Definition: LeggedBodyHelper.h:14