pinocchio  3.7.0
A fast and flexible implementation of Rigid Body Dynamics algorithms and their analytical derivatives
 
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energy.hpp
1//
2// Copyright (c) 2016-2020 CNRS INRIA
3//
4
5#ifndef __pinocchio_algorithm_energy_hpp__
6#define __pinocchio_algorithm_energy_hpp__
7
8#include "pinocchio/multibody/model.hpp"
9#include "pinocchio/multibody/data.hpp"
10#include "pinocchio/algorithm/kinematics.hpp"
11#include "pinocchio/algorithm/check.hpp"
12
13namespace pinocchio
14{
15
27 template<typename Scalar, int Options, template<typename, int> class JointCollectionTpl>
28 Scalar computeKineticEnergy(
29 const ModelTpl<Scalar, Options, JointCollectionTpl> & model,
30 DataTpl<Scalar, Options, JointCollectionTpl> & data);
31
47 template<
48 typename Scalar,
49 int Options,
50 template<typename, int> class JointCollectionTpl,
51 typename ConfigVectorType,
52 typename TangentVectorType>
53 Scalar computeKineticEnergy(
54 const ModelTpl<Scalar, Options, JointCollectionTpl> & model,
55 DataTpl<Scalar, Options, JointCollectionTpl> & data,
56 const Eigen::MatrixBase<ConfigVectorType> & q,
57 const Eigen::MatrixBase<TangentVectorType> & v);
58
78 template<typename Scalar, int Options, template<typename, int> class JointCollectionTpl>
79 Scalar computePotentialEnergy(
80 const ModelTpl<Scalar, Options, JointCollectionTpl> & model,
81 DataTpl<Scalar, Options, JointCollectionTpl> & data);
82
102 template<
103 typename Scalar,
104 int Options,
105 template<typename, int> class JointCollectionTpl,
106 typename ConfigVectorType>
107 Scalar computePotentialEnergy(
108 const ModelTpl<Scalar, Options, JointCollectionTpl> & model,
109 DataTpl<Scalar, Options, JointCollectionTpl> & data,
110 const Eigen::MatrixBase<ConfigVectorType> & q);
111
123 template<typename Scalar, int Options, template<typename, int> class JointCollectionTpl>
124 Scalar computeMechanicalEnergy(
125 const ModelTpl<Scalar, Options, JointCollectionTpl> & model,
126 DataTpl<Scalar, Options, JointCollectionTpl> & data);
127
144 template<
145 typename Scalar,
146 int Options,
147 template<typename, int> class JointCollectionTpl,
148 typename ConfigVectorType,
149 typename TangentVectorType>
150 Scalar computeMechanicalEnergy(
151 const ModelTpl<Scalar, Options, JointCollectionTpl> & model,
152 DataTpl<Scalar, Options, JointCollectionTpl> & data,
153 const Eigen::MatrixBase<ConfigVectorType> & q,
154 const Eigen::MatrixBase<TangentVectorType> & v);
155
156} // namespace pinocchio
157
158#include "pinocchio/algorithm/energy.hxx"
159
160#if PINOCCHIO_ENABLE_TEMPLATE_INSTANTIATION
161 #include "pinocchio/algorithm/energy.txx"
162#endif // PINOCCHIO_ENABLE_TEMPLATE_INSTANTIATION
163
164#endif // __pinocchio_algorithm_energy_hpp__
pinocchio
Main pinocchio namespace.
Definition treeview.dox:11
pinocchio::computeMechanicalEnergy
Scalar computeMechanicalEnergy(const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data)
Computes the mechanical energy of the system stored in data.mechanical_energy. The result is accessib...
pinocchio::computePotentialEnergy
Scalar computePotentialEnergy(const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data)
Computes the potential energy of the system, i.e. the potential energy linked to the gravity field....
pinocchio::computeKineticEnergy
Scalar computeKineticEnergy(const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data)
Computes the kinetic energy of the system. The result is accessible through data.kinetic_energy.