planar_linkage Interface

public interface planar_linkage

Contents

Module Procedures

pln_init_containers pln_init_array

Module Procedures

private function pln_init_containers(lnks, jnts, base, effector, tool) result(rst)

Initializes a new planar_linkage object.

Arguments

Type	Intent	Optional	Attributes		Name
type(link_container),	intent(in),		dimension(:)	::	lnks	The collection of links forming the mechanism.
type(joint),	intent(in),		dimension(:)	::	jnts	The collection of joints connecting the links. Every joint must be usable within a planar mechanism.
integer(kind=int32),	intent(in),	optional		::	base	The index of the link that is fixed to ground. If not supplied, the first link is used.
integer(kind=int32),	intent(in),	optional		::	effector	The index of the link carrying the end-effector. If not supplied, the last link is used.
real(kind=real64),	intent(in),	optional		::	tool(4,4)	The transformation matrix relating the end-effector coordinate frame to the body frame of the end-effector link. If not supplied, an identity matrix is used.

Return Value type(planar_linkage)

The resulting planar_linkage object.

private function pln_init_array(lnks, jnts, base, effector, tool) result(rst)

Initializes a new planar_linkage object.

Arguments

Type	Intent	Optional	Attributes		Name
class(link),	intent(in),		dimension(:)	::	lnks	The collection of links forming the mechanism.
type(joint),	intent(in),		dimension(:)	::	jnts	The collection of joints connecting the links. Every joint must be usable within a planar mechanism.
integer(kind=int32),	intent(in),	optional		::	base	The index of the link that is fixed to ground. If not supplied, the first link is used.
integer(kind=int32),	intent(in),	optional		::	effector	The index of the link carrying the end-effector. If not supplied, the last link is used.
real(kind=real64),	intent(in),	optional		::	tool(4,4)	The transformation matrix relating the end-effector coordinate frame to the body frame of the end-effector link. If not supplied, an identity matrix is used.

Return Value type(planar_linkage)

The resulting planar_linkage object.