Drake
KinematicsCacheWithVHelper< Scalar > Class Template Reference

Stores and updates the kinematics cache for the rigid body tree. More...

#include <drake/multibody/kinematics_cache_helper.h>

Public Member Functions

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

Detailed Description

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

Stores and updates the kinematics cache for the rigid body tree.

Constructor & Destructor Documentation

KinematicsCacheWithVHelper ( const RigidBodyTree< double > &  tree)
explicit

Construct a cache for a tree.

The kinematics information includes the pose and spatial velocity, w.r.t q, v. And Jdotv is computed.

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 Eigen::Ref< const VectorX< Scalar >> &  v 
)

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