Drake
KinematicsCacheHelper< Scalar > Class Template Reference

Helper class to avoid recalculating a kinematics cache which is going to be used repeatedly by multiple other classes. More...

#include <drake/multibody/kinematics_cache_helper.h>

Public Member Functions

 KinematicsCacheHelper (const RigidBodyTree< double > &tree)
 Construct a cache for a tree. More...
 
KinematicsCache< Scalar > & UpdateKinematics (const Eigen::Ref< const VectorX< Scalar >> &q, const RigidBodyTree< double > *tree)
 

Detailed Description

template<typename Scalar>
class drake::systems::plants::KinematicsCacheHelper< Scalar >

Helper class to avoid recalculating a kinematics cache which is going to be used repeatedly by multiple other classes.

Constructor & Destructor Documentation

KinematicsCacheHelper ( const RigidBodyTree< double > &  tree)
explicit

Construct a cache for a tree.

Parameters
treetree is aliased and needs to live for the lifetime of the object.

Member Function Documentation

KinematicsCache< Scalar > & UpdateKinematics ( const Eigen::Ref< const VectorX< Scalar >> &  q,
const RigidBodyTree< double > *  tree 
)

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The documentation for this class was generated from the following files: