StateCache

struct StateCache{M, JointCollection} <: RigidBodyDynamics.AbstractTypeDict

A container that manages the creation and storage of MechanismState objects of various scalar types, associated with a given Mechanism.

A StateCache can be used to write generic functions that use MechanismState objects, while avoiding overhead due to the construction of a new MechanismState with a given scalar type every time the function is called.

Examples

julia> mechanism = rand_tree_mechanism(Float64, Revolute{Float64}, Prismatic{Float64}, QuaternionFloating{Float64});

julia> cache = StateCache(mechanism)
StateCache{…}

julia> state32 = cache[Float32]
MechanismState{Float32, Float64, Float64, …}(…)

julia> cache[Float32] === state32
true

julia> cache[Float64]
MechanismState{Float64, Float64, Float64, …}(…)

struct DynamicsResultCache{M} <: RigidBodyDynamics.AbstractTypeDict

A container that manages the creation and storage of DynamicsResult objects of various scalar types, associated with a given Mechanism. Similar to StateCache.

struct SegmentedVectorCache{K, KeyRange<:AbstractUnitRange{K}} <: RigidBodyDynamics.AbstractTypeDict

A container that manages the creation and storage of heterogeneously typed SegmentedVector objects. Similar to StateCache.