Commit 0322cf27 authored by jcarpent's avatar jcarpent
Browse files

[Doc] Add documentation of kineticEnergy

parent 2193fed0
......@@ -22,6 +22,18 @@
#include "pinocchio/algorithm/kinematics.hpp"
namespace se3 {
/// \brief Computes the kinetic energy of the system.
/// The result is accessible throw data.kinetic_energy.
/// \param[in] model The model structure of the rigid body system.
/// \param[in] data The data structure of the rigid body system.
/// \param[in] q The joint configuration vector (dim model.nq).
/// \param[in] v The joint velocity vector (dim model.nv).
/// \return The kinetic energy of the system in [J].
inline double
kineticEnergy(const Model & model,
Data & data,
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