torsional_force_element Derived Type

type, public :: torsional_force_element

Defines an extensible torsional element bound to a revolute joint.


Contents

Variables

Type-Bound Procedures


Components

Type Visibility Attributes Name Initial
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_zero_torque

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

    Evaluates the default torsional law, which produces no torque.

    Arguments

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

    The torsional element being evaluated.
    real(kind=real64), intent(in) :: angle

    The relative joint angle and angular rate. They are unused by the zero-torque law.
    real(kind=real64), intent(in) :: angle_rate

    The relative joint angle and angular rate. They are unused by the zero-torque law.

    Return Value real(kind=real64)

    The signed joint torque, equal to zero.