dh_table Derived Type

type, public :: dh_table

Describes a Denavit-Hartenberg table.


Contents

Variables

Constructor


Components

Type Visibility Attributes Name Initial
type(dh_parameter_set), public, allocatable, dimension(:) :: parameters

A collection of DH parameters for each joint in the linkage.

Constructor

public interface dh_table

  • private pure function dh_table_init(c) result(rst)

    Constructs a Denavit-Hartenberg table given the locations and orientations of a linkage.

    Arguments

    Type IntentOptional Attributes Name
    class(coordinate_system), intent(in), dimension(:) :: c

    An N-element array containing the coordinate frames for each of the N links of the linkage.

    Return Value type(dh_table)

    The resulting Denavit-Hartenberg table.