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/constraint_wrappers.h>

Public Member Functions

 KinematicsCacheHelper (const std::vector< std::unique_ptr< RigidBody< Scalar >>> &bodies)
 
KinematicsCache< Scalar > & UpdateKinematics (const Eigen::Ref< const Eigen::VectorXd > &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 std::vector< std::unique_ptr< RigidBody< T >>> &  bodies)
explicit

Member Function Documentation

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

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