#include "pinocchio/multibody/model.hpp"
#include "pinocchio/algorithm/kinematics.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. |