Defines the maximal-coordinate state of a collection of rigid bodies. Angular velocities and inertia tensors are expressed in each body's frame. Positions, translational velocities, forces, and orientations use the world frame.
| Type | Visibility | Attributes | Name | Initial | |||
|---|---|---|---|---|---|---|---|
| real(kind=real64), | public, | allocatable, dimension(:,:) | :: | angular_velocity |
Body-frame angular velocities, dimensioned 3-by-nbody. |
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| type(quaternion), | public, | allocatable, dimension(:) | :: | orientation |
Unit body-to-world orientation quaternions. |
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| real(kind=real64), | public, | allocatable, dimension(:,:) | :: | position |
Body center-of-mass positions, dimensioned 3-by-nbody. |
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| real(kind=real64), | public | :: | time | = | 0.0d0 |
The time associated with the state. |
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| real(kind=real64), | public, | allocatable, dimension(:,:) | :: | velocity |
Center-of-mass velocities, dimensioned 3-by-nbody. |