add_trajectory Subroutine

private subroutine add_trajectory(self, traj)

Also follow traj (no effect if it is already followed).

Type Bound

TrajectoryFollower

Arguments

Type IntentOptional Attributes Name
class(TrajectoryFollower), intent(inout) :: self
type(Trajectory), intent(in), pointer :: traj

the trajectory to add (not owned; null: none)

Calls

proc~~add_trajectory~~CallsGraph proc~add_trajectory TrajectoryFollower%add_trajectory proc~next_motion_stamp next_motion_stamp proc~add_trajectory->proc~next_motion_stamp proc~set_default_data TrajectoryFollower%set_default_data proc~add_trajectory->proc~set_default_data proc~set_default_data->proc~next_motion_stamp proc~dof Trajectory%dof proc~set_default_data->proc~dof proc~position_sources position_sources proc~set_default_data->proc~position_sources

Called by

proc~~add_trajectory~~CalledByGraph proc~add_trajectory TrajectoryFollower%add_trajectory proc~follow ReferenceFrame%follow proc~follow->proc~add_trajectory proc~set_trajectory~2 TrajectoryFollower%set_trajectory proc~follow->proc~set_trajectory~2 proc~set_trajectory~2->proc~add_trajectory

Source Code

    subroutine add_trajectory(self, traj)
        class(TrajectoryFollower), intent(inout) :: self
        type(Trajectory), pointer, intent(in) :: traj       !! the trajectory to add (not owned; null: none)
        type(TrajectoryPointer), allocatable :: tmp(:)
        integer :: k
        if (.not. associated(traj)) return
        do k = 1, self%n
            if (associated(self%trajs(k)%p, traj)) return
        end do
        if (.not. allocated(self%trajs)) allocate(self%trajs(4))
        if (self%n == size(self%trajs)) then
            allocate(tmp(2 * self%n))
            tmp(1:self%n) = self%trajs(1:self%n)
            call move_alloc(tmp, self%trajs)
        end if
        self%n = self%n + 1
        self%trajs(self%n)%p => traj
        if (self%default_data) call self%set_default_data()
        self%stamp_ = next_motion_stamp()
    end subroutine add_trajectory