joint Interface

public interface joint

Contents

Module Procedures

jnt_init

Module Procedures

private function jnt_init(jtype, parent_link, child_link, parent_frame, child_frame, actuated) result(rst)

Initializes a new joint object.

Arguments

Type	Intent	Optional	Attributes		Name
integer(kind=int32),	intent(in)			::	jtype	The type of joint. This value must be one of FIXED_JOINT, REVOLUTE_JOINT, PRISMATIC_JOINT, CYLINDRICAL_JOINT, UNIVERSAL_JOINT, or SPHERICAL_JOINT.
integer(kind=int32),	intent(in)			::	parent_link	The index of the parent link.
integer(kind=int32),	intent(in)			::	child_link	The index of the child link.
integer(kind=int32),	intent(in),	optional		::	parent_frame	The index of the coordinate frame on the parent link to which the joint attaches. If not supplied, a value of one is used.
integer(kind=int32),	intent(in),	optional		::	child_frame	The index of the coordinate frame on the child link to which the joint attaches. If not supplied, a value of one is used.
logical,	intent(in),	optional		::	actuated	True if the joint is driven. If not supplied, the joint is considered passive.

Return Value type(joint)

The resulting joint object.