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pinocchio
2.7.0
A fast and flexible implementation of Rigid Body Dynamics algorithms and their analytical derivatives
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5 #ifndef __pinocchio_algorithm_energy_hpp__
6 #define __pinocchio_algorithm_energy_hpp__
8 #include "pinocchio/multibody/model.hpp"
9 #include "pinocchio/multibody/data.hpp"
10 #include "pinocchio/algorithm/kinematics.hpp"
11 #include "pinocchio/algorithm/check.hpp"
26 template<
typename Scalar,
int Options,
template<
typename,
int>
class JointCollectionTpl>
29 DataTpl<Scalar,Options,JointCollectionTpl> & data);
46 template<
typename Scalar,
int Options,
template<
typename,
int>
class JointCollectionTpl,
typename ConfigVectorType,
typename TangentVectorType>
50 const Eigen::MatrixBase<ConfigVectorType> & q,
51 const Eigen::MatrixBase<TangentVectorType> & v)
73 template<
typename Scalar,
int Options,
template<
typename,
int>
class JointCollectionTpl,
typename ConfigVectorType,
typename TangentVectorType>
78 const Eigen::MatrixBase<ConfigVectorType> & q,
79 const Eigen::MatrixBase<TangentVectorType> & v,
80 const bool update_kinematics)
106 template<
typename Scalar,
int Options,
template<
typename,
int>
class JointCollectionTpl>
109 DataTpl<Scalar,Options,JointCollectionTpl> & data);
129 template<
typename Scalar,
int Options,
template<
typename,
int>
class JointCollectionTpl,
typename ConfigVectorType>
133 const Eigen::MatrixBase<ConfigVectorType> & q)
153 template<
typename Scalar,
int Options,
template<
typename,
int>
class JointCollectionTpl,
typename ConfigVectorType>
158 const Eigen::MatrixBase<ConfigVectorType> & q,
159 const bool update_kinematics)
161 if(update_kinematics)
168 #include "pinocchio/algorithm/energy.hxx"
170 #endif // __pinocchio_algorithm_energy_hpp__
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....
void forwardKinematics(const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data, const Eigen::MatrixBase< ConfigVectorType > &q)
Update the joint placements according to the current joint configuration.
PINOCCHIO_DEPRECATED Scalar kineticEnergy(const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data, const Eigen::MatrixBase< ConfigVectorType > &q, const Eigen::MatrixBase< TangentVectorType > &v, const bool update_kinematics)
Computes the kinetic energy of the system. The result is accessible through data.kinetic_energy.
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.
PINOCCHIO_DEPRECATED Scalar potentialEnergy(const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data, const Eigen::MatrixBase< ConfigVectorType > &q, const bool update_kinematics)
Computes the potential energy of the system, i.e. the potential energy linked to the gravity field....
Main pinocchio namespace.