connect throught multiple server layers

Hi,

I'll explain my 'issue' on a example right away. I have ssh A, through which I need to connect to ssh B, through which I need to connect to ssh C. Unfortunately there is no easy way to connect directly to C, thus I would need to layer-ly access and connect to all of them. I'm too lazy to code only in terminal and working in a comfortable IDE would be a great speed up.
Is there a simple way to connect in a described way to them? I had no issue to connect just to first ssh, and code through that, but connecting to other was quite an issue. I use rsa encryption + passwords to connect to each one, except for the last one that serves as a testing server.

Thank you very much.

Regards,

Matej K