MBSVT: D:/Mis_Documentos/investigacion/proyectos/VT optimization project/MBSVT/trunk/constraints.f90 File Reference

Modules
module	CONSTRAINTS
	Module that manages the constraints.
Functions/Subroutines
subroutine, public	CONSTRAINTS::ADDConstr_UnitEulParam (body)
	Adds an unitary vector constraint to the Euler parameters of one body. It's NOT a user function, it's intended to be called by the solver.
subroutine, public	CONSTRAINTS::ADDConstr_dot1 (body1, body2, vector1, vector2)
	Adds a dot-1 joint between two bodies or between the ground and one body.
subroutine, public	CONSTRAINTS::ADDConstr_SpheJoint (body1, body2, point1, point2)
	Adds a sphercal joint between two bodies or between the ground and one body.
subroutine, public	CONSTRAINTS::ADDConstr_RevJoint (body1, body2, point1, point2, vect1, vect2)
	Adds a revolute joint between two bodies or between the ground and one body.
subroutine, public	CONSTRAINTS::ADDConstr_TransJoint (body1, body2, point1, point2, vect1x, vect1y, vect2x, vect2y)
	Adds a translational joint between two bodies or between the ground and one body.
subroutine, public	CONSTRAINTS::ADDConstr_Drive_rgx (body, i_MOTOR)
	Adds a driving constraint to the x-coordinate of the CDM of a body.
subroutine, public	CONSTRAINTS::ADDConstr_Drive_rgy (body, i_MOTOR)
	Adds a driving constraint to the y-coordinate of the CDM of a body.
subroutine, public	CONSTRAINTS::ADDConstr_Drive_rgz (body, i_MOTOR)
	Adds a driving constraint to the z-coordinate of the CDM of a body.
subroutine, public	CONSTRAINTS::ADDConstr_Drive_eu0 (body, i_MOTOR)
	Adds a driving constraint to the 1st Euler parameter of a body.
subroutine, public	CONSTRAINTS::ADDConstr_Drive_eu1 (body, i_MOTOR)
	Adds a driving constraint to the 2nd Euler parameter of a body.
subroutine, public	CONSTRAINTS::ADDConstr_Drive_eu2 (body, i_MOTOR)
	Adds a driving constraint to the 3rd Euler parameter of a body.
subroutine, public	CONSTRAINTS::ADDConstr_Drive_eu3 (body, i_MOTOR)
	Adds a driving constraint to the 4rd Euler parameter of a body.
subroutine	CONSTRAINTS::ADDConstr_Drive_rgEul (ind, i_MOTOR)
	Adds a driving constraint to any body coordinate. It's NOT a user function, it's intended to be called by other user constraints.
subroutine, public	CONSTRAINTS::ADDConstr_Drive_dist (body1, body2, point1, point2, i_MOTOR)
	Adds a driving constraint to a distance between two points in two different bodies.
subroutine, public	CONSTRAINTS::evalconstraints
	Subroutine that evaluates the constraints vector ( $\bm \Phi$ ). It's NOT a user function, it's intended to be called by the solver.
subroutine, public	CONSTRAINTS::evaljacobian
	Subroutine that evaluates the jacobian of the constraints vector ( ${\bm \Phi}_{\bf q}$ ). It's NOT a user function, it's intended to be called by the solver.
subroutine, public	CONSTRAINTS::evalderjacobianqp
	Subroutine that evaluates the term $\dot{\bm \Phi}_{\bf q} {\dot{\bf q}}$ . It's NOT a user function, it's intended to be called by the solver.
subroutine, public	CONSTRAINTS::evalderjacobian
	Subroutine that evaluates the term ${\dot{\bm \Phi}}_{\bf q}$ . It's NOT a user function, it's intended to be called by the solver.
subroutine, public	CONSTRAINTS::evalderderjacobian
	Subroutine that evaluates the term ${\ddot{\bm \Phi}}_{\bf q}$ . It's NOT a user function, it's intended to be called by the solver.
subroutine, public	CONSTRAINTS::evaljacobderjacobianqp
subroutine, public	CONSTRAINTS::evalfit
subroutine, public	CONSTRAINTS::evalfitp
subroutine, public	CONSTRAINTS::evaljacob_jacob (lb)
subroutine, public	CONSTRAINTS::evaljacobT_jacob (lb)
subroutine, public	CONSTRAINTS::CONSTRAINTS_Setup
Variables
INTEGER	CONSTRAINTS::nConstr_UnitEulParam = 0
INTEGER	CONSTRAINTS::nConstr_dot1GB = 0
INTEGER	CONSTRAINTS::nConstr_dot1 = 0
INTEGER	CONSTRAINTS::nConstr_SpheJointGB = 0
INTEGER	CONSTRAINTS::nConstr_SpheJoint = 0
INTEGER	CONSTRAINTS::nConstr_RevJointGB = 0
INTEGER	CONSTRAINTS::nConstr_RevJoint = 0
INTEGER	CONSTRAINTS::nConstr_TransJointGB = 0
INTEGER	CONSTRAINTS::nConstr_TransJoint = 0
INTEGER	CONSTRAINTS::nConstr_Drive_rgEul = 0
INTEGER	CONSTRAINTS::nConstr_Drive_distGB = 0
INTEGER	CONSTRAINTS::nConstr_Drive_dist = 0
TYPE(typeConstr_UnitEulParam), dimension(:), allocatable	CONSTRAINTS::Constr_UnitEulParam
TYPE(typeConstr_dot1), dimension(:), allocatable	CONSTRAINTS::Constr_dot1GB
TYPE(typeConstr_dot1), dimension(:), allocatable	CONSTRAINTS::Constr_dot1
TYPE(typeConstr_SpheJoint), dimension(:), allocatable	CONSTRAINTS::Constr_SpheJointGB
TYPE(typeConstr_SpheJoint), dimension(:), allocatable	CONSTRAINTS::Constr_SpheJoint
TYPE(typeConstr_RevJoint), dimension(:), allocatable	CONSTRAINTS::Constr_RevJointGB
TYPE(typeConstr_RevJoint), dimension(:), allocatable	CONSTRAINTS::Constr_RevJoint
TYPE(typeConstr_TransJoint), dimension(:), allocatable	CONSTRAINTS::Constr_TransJointGB
TYPE(typeConstr_TransJoint), dimension(:), allocatable	CONSTRAINTS::Constr_TransJoint
TYPE(typeconstr_Drive_rgEul), dimension(:), allocatable	CONSTRAINTS::Constr_Drive_rgEul
TYPE(typeconstr_Drive_Dist), dimension(:), allocatable	CONSTRAINTS::Constr_Drive_DistGB
TYPE(typeconstr_Drive_Dist), dimension(:), allocatable	CONSTRAINTS::Constr_Drive_Dist

Modules

Functions/Subroutines

Variables