Add WrenchesCache and bump version to 2.5.0

Author: ferrolho

.github/workflows/ci.yml

@@ -18,7 +18,6 @@ jobs:
       matrix:
         version:
           - 'lts'
-          - '1.6'
           - '1.9'  # Temporary for notebooks
           - '1.11'
         os:

Project.toml

@@ -1,6 +1,6 @@
 name = "RigidBodyDynamics"
 uuid = "366cf18f-59d5-5db9-a4de-86a9f6786172"
-version = "2.4.0"
+version = "2.5.0"
 
 [deps]
 DocStringExtensions = "ffbed154-4ef7-542d-bbb7-c09d3a79fcae"
@@ -19,8 +19,8 @@ UnsafeArrays = "c4a57d5a-5b31-53a6-b365-19f8c011fbd6"
 DocStringExtensions = "0.4.1, 0.5, 0.6, 0.7, 0.8, 0.9"
 LightXML = "0.8, 0.9"
 LoopThrottle = "0.1"
-Reexport = "0.2, 1.0"
-Rotations = "1.1 - 1.2"
+Reexport = "0.2, 1"
+Rotations = "1"
 StaticArrays = "0.8, 0.9, 0.10, 0.11, 0.12, 1"
 TypeSortedCollections = "1"
 UnsafeArrays = "1"

src/RigidBodyDynamics.jl

@@ -21,7 +21,8 @@ export
     DynamicsResult,
     StateCache,
     DynamicsResultCache,
-    SegmentedVectorCache
+    SegmentedVectorCache,
+    WrenchesCache
 
 # specific joint types
 export

src/caches.jl

@@ -107,3 +107,28 @@ end
 @inline function makevalue(c::SegmentedVectorCache{K, KeyRange}, ::Type{T}) where {K, T, KeyRange}
     SegmentedVector{K, T, KeyRange}(Vector{T}(undef, c.length), c.ranges)
 end
+
+"""
+$(TYPEDEF)
+
+A container that manages the creation and storage of `BodyDict{Wrench{T}}`.
+Similar to [`StateCache`](@ref).
+"""
+struct WrenchesCache{M} <: AbstractTypeDict
+    mechanism::Mechanism{M}
+    keys::Vector{UInt}
+    values::Vector  # Can also be `Any`
+end
+
+Base.show(io::IO, ::WrenchesCache{M}) where {M} = print(io, "WrenchesCache{$M}(…)")
+
+WrenchesCache(mechanism::Mechanism{M}) where {M} = WrenchesCache{M}(mechanism, [], [])
+
+@inline function valuetype(::Type{WrenchesCache{M}}, ::Type{T}) where {M,T}
+    BodyDict{Wrench{T}}
+end
+
+@inline function makevalue(c::WrenchesCache, ::Type{T}) where {T}
+    rootframe = root_frame(c.mechanism)
+    BodyDict{Wrench{T}}(b => zero(Wrench{T}, rootframe) for b in bodies(c.mechanism))
+end