torsional_damper Derived Type

type, public, extends(torsional_force_element) :: torsional_damper

Defines a linear damper opposing only joint-axis twist rate.


Contents

Variables

Type-Bound Procedures


Components

Type Visibility Attributes Name Initial
real(kind=real64), public :: damping = 0.0d0

The torque per unit relative angular velocity.
integer(kind=int32), public :: joint_index = 0

The one-based revolute-joint index whose axis the element uses.

Type-Bound Procedures

procedure, public :: evaluate_torque => torsional_damper_torque

  • private pure function torsional_damper_torque(this, angle, angle_rate) result(rst)

    Evaluates the resisting torque produced by a linear torsional damper.

    Arguments

    Type IntentOptional Attributes Name
    class(torsional_damper), intent(in) :: this

    The damper whose damping coefficient defines the torque law.
    real(kind=real64), intent(in) :: angle

    The relative joint angle and angular rate. The angle is unused by this law.
    real(kind=real64), intent(in) :: angle_rate

    The relative joint angle and angular rate. The angle is unused by this law.

    Return Value real(kind=real64)

    The signed torque applied to the child body about the joint axis.