Is there a relativistic version of Hamiltonian mechanics? If so, how is it formulated (what are the main equations and the form of Hamiltonian)? Is it a common framework, if not then why?

It would be nice also to provide an example --- a simple system with its Hamiltonian.

As far as I remember, in relativistic mechanics we were only taught to use conservation laws, that is integral invariants and thus I have a vague perception of relativistic dynamics.

This post imported from StackExchange Physics at 2015-11-01 18:11 (UTC), posted by SE-user Yrogirg