[Python] Expose kineticEnergy algo

src/python/algorithms.hpp

 //
-// Copyright (c) 2015 CNRS
+// Copyright (c) 2015-2016 CNRS
 //
 // This file is part of Pinocchio
 // Pinocchio is free software: you can redistribute it
@@ -31,14 +31,15 @@
 #include "pinocchio/algorithm/jacobian.hpp"
 #include "pinocchio/algorithm/center-of-mass.hpp"
 #include "pinocchio/algorithm/joint-limits.hpp"
+#include "pinocchio/algorithm/energy.hpp"
 
 #include "pinocchio/simulation/compute-all-terms.hpp"
 
 #ifdef WITH_HPP_FCL
-#include "pinocchio/multibody/geometry.hpp"
-#include "pinocchio/python/geometry-model.hpp"
-#include "pinocchio/python/geometry-data.hpp"
-#include "pinocchio/algorithm/collisions.hpp"
+  #include "pinocchio/multibody/geometry.hpp"
+  #include "pinocchio/python/geometry-model.hpp"
+  #include "pinocchio/python/geometry-data.hpp"
+  #include "pinocchio/algorithm/collisions.hpp"
 #endif
 
 namespace se3
@@ -153,6 +154,15 @@ namespace se3
       {
         jointLimits(*model,*data,q);
       }
+      
+      static double kineticEnergy_proxy(const ModelHandler & model,
+                                        DataHandler & data,
+                                        const VectorXd_fx & q,
+                                        const VectorXd_fx & v,
+                                        const bool update_kinematics = true)
+      {
+        return kineticEnergy(*model,*data,q,v,update_kinematics);
+      }
 
 #ifdef WITH_HPP_FCL
       static bool computeCollisions_proxy(GeometryDataHandler & data_geom,
@@ -275,7 +285,16 @@ namespace se3
     bp::args("Model","Data",
         "Configuration q (size Model::nq)"),
         "Compute the maximum limits of all the joints of the model "
-        "and put the results in data.");
+          "and put the results in data.");
+        
+        bp::def("kineticEnergy",kineticEnergy_proxy,
+                bp::args("Model","Data",
+                         "Configuration q (size Model::nq)",
+                         "Velocity v (size Model::nv)",
+                         "Update kinematics (bool)"),
+                "Compute the kinematic energy of the model for the "
+                "given joint configuration and velocity and store it "
+                " in data.kinetic_energy. By default, the kinematics of model is updated.");
 
 #ifdef WITH_HPP_FCL
   bp::def("computeCollisions",computeCollisions_proxy,

src/python/data.hpp

 //
-// Copyright (c) 2015 CNRS
+// Copyright (c) 2015-2016 CNRS
 //
 // This file is part of Pinocchio
 // Pinocchio is free software: you can redistribute it
@@ -102,6 +102,8 @@ namespace se3
         
     .ADD_DATA_PROPERTY_CONST(Eigen::VectorXd,lowerPositionLimit,"Limit for joint lower position")
     .ADD_DATA_PROPERTY_CONST(Eigen::VectorXd,upperPositionLimit,"Limit for joint upper position")
+        
+        .ADD_DATA_PROPERTY_CONST(double,kinetic_energy,"Kinetic energy in [J] computed by kineticEnergy(model,data,q,v,True/False)")
 	  ;
       }
 
@@ -135,6 +137,8 @@ namespace se3
       IMPL_DATA_PROPERTY_CONST(Eigen::VectorXd,lowerPositionLimit,"Limit for joint lower position")
       IMPL_DATA_PROPERTY_CONST(Eigen::VectorXd,upperPositionLimit,"Limit for joint upper position")
       
+      IMPL_DATA_PROPERTY_CONST(double,kinetic_energy,"Kinetic energy in [J] computed by kineticEnergy(model,data,q,v,True/False)")
+      
       static Vector3d_fx com_pos (DataHandler & d, int i) { return d->com[(size_t) i]; }
       static Vector3d_fx com_vel (DataHandler & d, int i) { return d->vcom[(size_t) i]; }
       static Vector3d_fx com_acc (DataHandler & d, int i) { return d->acom[(size_t) i]; }