Defines the constraint reaction exerted by a joint on its child link. Both vectors are expressed in the world coordinate frame. The reaction exerted on the parent link is equal and opposite.
| Type | Visibility | Attributes | Name | Initial | |||
|---|---|---|---|---|---|---|---|
| real(kind=real64), | public, | dimension(3) | :: | force | = | 0.0d0 |
The joint reaction force. |
| real(kind=real64), | public, | dimension(3) | :: | moment | = | 0.0d0 |
The joint reaction moment about the joint center. |