binary_link Interface

public interface binary_link

Contents

Module Procedures

bl_init

Module Procedures

private pure function bl_init(jtype, length, twist, offset, angle, mass, inertia, cg) result(rst)

Initializes a new parallel_revolute_revolute_link instance.

Arguments

Type	Intent	Optional	Attributes		Name
integer(kind=int32),	intent(in),	optional		::	jtype	The proximal joint type. This value must be either & REVOLUTE_JOINT or PRISMATIC_JOINT. If incorrectly specified, this parameter defaults to REVOLUTE_JOINT.
real(kind=real64),	intent(in),	optional		::	length	The link length. If no value is specified, a value of 0 is used.
real(kind=real64),	intent(in),	optional		::	twist	The link twist angle. If no value is specified, a value of 0 is used.
real(kind=real64),	intent(in),	optional		::	offset	The link offset. If no value is specified, a value of 0 is used.
real(kind=real64),	intent(in),	optional		::	angle	The joint angle offset. If no value is specified, a value of 0 is used.
real(kind=real64),	intent(in),	optional		::	mass	The mass of the link. If no value is specified, a value of 1 is used.
real(kind=real64),	intent(in),	optional		::	inertia(3,3)	The 3-by-3 inertia tensor. If not specified, an identity matrix is used.
real(kind=real64),	intent(in),	optional		::	cg(3)	The x-y-z location of the CG relative to the distal coordinate frame, expressed in the link coordinate frame. If not supplied, the CG is set to (0, 0, 0) such that it is located at the center of the distal joint.

Return Value type(binary_link)

The resulting binary_link object.