FUNCTION representation_of_link
(link : kinematic_link) : kinematic_link_representation;
LOCAL
link_rep_rel : BAG OF kinematic_link_representation_relation;
END_LOCAL;
link_rep_rel := USEDIN (link, 'KINEMATIC_STRUCTURE_SCHEMA.'+
'KINEMATIC_LINK_REPRESENTATION_RELATION.'+
'TOPOLOGICAL_ASPECTS');
IF (SIZEOF (link_rep_rel) = 0) THEN
RETURN (?);
ELSE
RETURN (link_rep_rel[1].geometric_aspects);
END_IF; END_FUNCTION; -- representation_of_link
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