Cache kinematics and dynamics computations in JaxSimModelData
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This PR aims to improve the performances by caching computations and simplifying the codebase.
The class
JaxSimModelDatawill have two additional attributes:_kin_dyn: private attribute to store the kyndyn computations_kin_dyn_stale: the cache invalidation flagThe class
KynDynComputationinherits fromcommon.ModelDataWithVelocityRepresentation, so it will have its ownvelocity_representationattribute, which will be useful for performing the conversions.The kinematics and dynamics computations will be accessible via a property of
JaxSimModelData, throughKynDynProxywhich is a proxy class that ensures that the attributes ofKynDynComputationare set and returned in the correct velocity representation.The value of the cache invalidation flag
JaxSimModelData._kyn_dyn_staleis set toTruewhen anyreset_*method is called. For this reason, aRuntimeErrorwill be raised if the user tries to access to the invalidated cache. At this scope, theupdate_kyn_dynmethod would set the cache invalidation flag toFalseand update the_kyn_dynattribute.📚 Documentation preview 📚: https://jaxsim--340.org.readthedocs.build//340/