dynamics_rigid_bodies Module

Uses

- iso_fortran_env

Contents

Interfaces

rigid_body

Derived Types

rigid_body

Subroutines

initialize_rigid_body

Interfaces

public interface rigid_body

private pure function rb_init(m, inertia, cg) result(rst)

Initializes a rigid_body object.

Arguments

Type	Intent	Optional	Attributes		Name
real(kind=real64),	intent(in),	optional		::	m	The mass of the body. If no mass is specified, a value of 1 is used.
real(kind=real64),	intent(in),	optional		::	inertia(3,3)	The 3-by-3 inertia tensor. If not supplied, an identity matrix is used.
real(kind=real64),	intent(in),	optional		::	cg(3)	The x-y-z location of the CG relative to the body coordinate frame. If not supplied, the CG is set to (0, 0, 0).

Return Value type(rigid_body)

The rigid_body object.

Derived Types

type, public :: rigid_body

Defines a rigid body.

Components

Type	Visibility	Attributes		Name		Initial
real(kind=real64),	public		::	cg(3)			The x-y-z location of the CG relative to the body coordinate frame.
real(kind=real64),	public		::	inertia(3,3)			The 3-by-3 inertia tensor as measured about the CG of the body.
real(kind=real64),	public		::	mass			The mass of the body.

Constructor

private pure function rb_init (m, inertia, cg)	Initializes a rigid_body object.

Subroutines

public pure subroutine initialize_rigid_body(bdy, m, inertia, cg)

Initializes a rigid_body object.

Arguments

Type	Intent	Optional	Attributes		Name
class(rigid_body),	intent(inout)			::	bdy	The rigid_body object.
real(kind=real64),	intent(in),	optional		::	m	The mass of the body. If no mass is specified, a value of 1 is used.
real(kind=real64),	intent(in),	optional		::	inertia(3,3)	The 3-by-3 inertia tensor. If not supplied, an identity matrix is used.
real(kind=real64),	intent(in),	optional		::	cg(3)	The x-y-z location of the CG relative to the body coordinate frame. If not supplied, the CG is set to (0, 0, 0).