void forwardKinematics(const MultiBody& mb, MultiBodyConfig& mbc)
{
const std::vector<Joint>& joints = mb.joints();
const std::vector<int>& pred = mb.predecessors();
const std::vector<int>& succ = mb.successors();
const std::vector<sva::PTransformd>& Xt = mb.transforms();
for(std::size_t i = 0; i < joints.size(); ++i)
{
mbc.jointConfig[i] = joints[i].pose(mbc.q[i]);
mbc.parentToSon[i] = mbc.jointConfig[i]*Xt[i];
if(pred[i] != -1)
mbc.bodyPosW[succ[i]] = mbc.parentToSon[i]*mbc.bodyPosW[pred[i]];
else
mbc.bodyPosW[succ[i]] = mbc.parentToSon[i];
}
}
