energy.hpp File Reference
#include "pinocchio/multibody/model.hpp"
#include "pinocchio/algorithm/kinematics.hpp"
Include dependency graph for energy.hpp:

Namespaces

namespace  se3

Functions

double se3::kineticEnergy (const Model &model, Data &data, const Eigen::VectorXd &q, const Eigen::VectorXd &v, const bool update_kinematics=true)
 Computes the kinetic energy of the system.
double se3::potentialEnergy (const Model &model, Data &data, const Eigen::VectorXd &q, const bool update_kinematics=true)
 Computes the potential energy of the system, i.e.