Understanding the magnetic excitations in high-transition temperature (high-$T_c$) copper oxides is important because they may mediate the electron pairing for superconductivity. By determining the wavevector ({bf Q}) and energy ($hbaromega$) dependence of the magnetic excitations, one can calculate the change in the exchange energy available to the superconducting condensation energy. For the high-$T_c$ superconductor YBa$_2$Cu$_3$O$_{6+x}$, the most prominent feature in the magnetic excitations is the resonance. Although the resonance has been suggested to contribute a major part of the superconducting condensation, the accuracy of such an estimation has been in doubt because the resonance is only a small portion of the total magnetic scattering. Here we report an extensive mapping of magnetic excitations for YBa$_2$Cu$_3$O$_{6.95}$ ($T_capprox 93$ K). Using the absolute intensity measurements of the full spectra, we estimate the change in the magnetic exchange energy between the normal and superconducting states and find it to be about 15 times larger than the superconducting condensation energy. Our results thus indicate that the change in the magnetic exchange energy is large enough to provide the driving force for high-$T_c$ superconductivity in YBa$_2$Cu$_3$O$_{6.95}$.
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