Adding helper functions

Author: madhephaestus

src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractKinematicsNR.java

@@ -113,13 +113,21 @@ public abstract class AbstractKinematicsNR extends NonBowlerDevice implements IP
 	private IMU imu = new IMU();
 
 	private Runnable renderWrangler=null;
+	
 	public int getLinkIndex(AbstractLink l) {
 		for (int i=0;i<getNumberOfLinks();i++) {
 			if(getAbstractLink(i)==l)
 				return i;
 		}
 		return -1;
 	}
+	public int getLinkIndex(LinkConfiguration l) {
+		for (int i=0;i<getNumberOfLinks();i++) {
+			if(getAbstractLink(i).getLinkConfiguration()==l)
+				return i;
+		}
+		return -1;
+	}
 
 	/**
 	 * Gets the root listener.

src/main/java/com/neuronrobotics/sdk/addons/kinematics/DHParameterKinematics.java

@@ -795,6 +795,12 @@ public void setDH_Alpha(int index, double value) {
 	public DHLink getDhLink(int i) {
 		return getDhChain().getLinks().get(i);
 	}
+	public DHLink getDhLink(AbstractLink myLink) {
+		return getDhChain().getLinks().get(getLinkIndex(myLink));
+	}
+	public DHLink getDhLink(LinkConfiguration myLink) {
+		return getDhChain().getLinks().get(getLinkIndex(myLink));
+	}
 	public Object getListener(int i) {
 		return getDhChain().getLinks().get(i).getListener();
 	}