Describes one joint constraint in maximal-coordinate body indexing. Body index zero denotes the fixed ground link. Each frame is a homogeneous transform from its associated body frame to the joint frame; for a ground body, the frame is expressed directly in world coordinates. The parent and child joint frames coincide when the joint constraint is satisfied.
| Type | Visibility | Attributes | Name | Initial | |||
|---|---|---|---|---|---|---|---|
| integer(kind=int32), | public | :: | child_body | = | 0 |
The one-based maximal-coordinate body index on the child side, or zero for the fixed ground link. |
|
| real(kind=real64), | public, | dimension(4,4) | :: | child_frame |
Homogeneous transform locating and orienting the joint frame in the child body frame, or in world coordinates when child_body is zero. |
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| integer(kind=int32), | public | :: | joint_type | = | REVOLUTE_JOINT |
The joint kind, using one of the joint-type constants from dynamics_joints. |
|
| integer(kind=int32), | public | :: | parent_body | = | 0 |
The one-based maximal-coordinate body index on the parent side, or zero for the fixed ground link. |
|
| real(kind=real64), | public, | dimension(4,4) | :: | parent_frame |
Homogeneous transform locating and orienting the joint frame in the parent body frame, or in world coordinates when parent_body is zero. |