function

RigidBody.kineticEnergy

Translational plus rotational kinetic storage

Public declarations

Explicit source declarations; dimensions, modifications and defaults are shown as written, without evaluation.

Role	Name	Type
input	`state`	`RigidBody.State`
input	`parameters`	`RigidBody.Parameters`
output	`energy`	`Real`

Modelica declarations and implementation

Show parameters, interfaces and source

Parameters, inputs, outputs, defaults and equations from the source file.

function kineticEnergy "Translational plus rotational kinetic storage"
  input RigidBody.State state;
  input RigidBody.Parameters parameters;
  output Real energy;
algorithm
  energy := 0.5 * parameters.mass * (state.bodyVelocity * state.bodyVelocity)
    + 0.5 * state.bodyAngularVelocity
      * (parameters.inertia * state.bodyAngularVelocity);
end kineticEnergy;