Program Listing for File energy.hxx
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//
// Copyright (c) 2016-2020 CNRS INRIA
//
#ifndef __pinocchio_algorithm_energy_hxx__
#define __pinocchio_algorithm_energy_hxx__
#include "pinocchio/multibody/model.hpp"
#include "pinocchio/multibody/data.hpp"
#include "pinocchio/algorithm/check.hpp"
namespace pinocchio
{
template<typename Scalar, int Options, template<typename,int> class JointCollectionTpl>
inline Scalar
computeKineticEnergy(const ModelTpl<Scalar,Options,JointCollectionTpl> & model,
DataTpl<Scalar,Options,JointCollectionTpl> & data)
{
assert(model.check(data) && "data is not consistent with model.");
typedef ModelTpl<Scalar,Options,JointCollectionTpl> Model;
typedef typename Model::JointIndex JointIndex;
data.kinetic_energy = Scalar(0);
for(JointIndex i=1; i<(JointIndex)(model.njoints); ++i)
data.kinetic_energy += model.inertias[i].vtiv(data.v[i]);
data.kinetic_energy *= .5;
return data.kinetic_energy;
}
template<typename Scalar, int Options, template<typename,int> class JointCollectionTpl>
inline Scalar
computePotentialEnergy(const ModelTpl<Scalar,Options,JointCollectionTpl> & model,
DataTpl<Scalar,Options,JointCollectionTpl> & data)
{
assert(model.check(data) && "data is not consistent with model.");;
typedef ModelTpl<Scalar,Options,JointCollectionTpl> Model;
typedef DataTpl<Scalar,Options,JointCollectionTpl> Data;
typedef typename Model::JointIndex JointIndex;
typedef typename Model::Motion Motion;
data.potential_energy = Scalar(0);
const typename Motion::ConstLinearType & g = model.gravity.linear();
typename Data::Vector3 com_global; // tmp variable
for(JointIndex i=1; i<(JointIndex)(model.njoints); ++i)
{
com_global.noalias() = data.oMi[i].translation() + data.oMi[i].rotation() * model.inertias[i].lever();
data.potential_energy -= model.inertias[i].mass() * com_global.dot(g);
}
return data.potential_energy;
}
}
#endif // __pinocchio_algorithm_energy_hxx__