[ODE] How can I measure energy?

Jon Watte (ODE) hplus-ode at mindcontrol.org
Thu May 3 11:09:24 MST 2007

You apply forces and torques yourself. Integrate all of those, 
multiplied by mass and time. That's how much energy you have put into 
the system.

Amotors also add torque, so count those. Regular joints, however, do not 
consume energy (think of a door: it's not "living" but won't fall off 
its hinges).


          / h+

Francisco J. Parreño Fernández wrote:
> Hi!
> I need to know how many energy does my robot waste "living" in an ODE 
> world. Somebody knows how can I measure this? I don't have any idea and 
> it's very important for me.
> Thank you very much.
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