cs_SphereWlin();
            this.kinpw_sph_circ = BinKinematics_SphereWcirc();
            this.kinpp_cyl      = BinKinematics_CylinderCylinder();
            this.kinpw_cyl_line = BinKinematics_CylinderWlin();
            this.kinpw_cyl_circ = BinKinematics_CylinderWcirc();
        <span class="keyword">end</span>

        <span class="comment">%------------------------------------------------------------------</span>
        <span class="keyword">function</span> initialize(this,drv)
            <span cla