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template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl> |
Scalar | pinocchio::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. More...
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template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorType , typename TangentVectorType > |
Scalar | pinocchio::computeKineticEnergy (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data, const Eigen::MatrixBase< ConfigVectorType > &q, const Eigen::MatrixBase< TangentVectorType > &v) |
| Computes the kinetic energy of the system. The result is accessible through data.kinetic_energy. More...
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template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl> |
Scalar | pinocchio::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. The result is accessible through data.potential_energy. More...
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template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorType > |
Scalar | pinocchio::computePotentialEnergy (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data, const Eigen::MatrixBase< ConfigVectorType > &q) |
| Computes the potential energy of the system, i.e. the potential energy linked to the gravity field. The result is accessible through data.potential_energy. More...
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template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorType , typename TangentVectorType > |
PINOCCHIO_DEPRECATED Scalar | pinocchio::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. More...
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template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorType > |
PINOCCHIO_DEPRECATED Scalar | pinocchio::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. The result is accessible through data.potential_energy. More...
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