D:/Mis_Documentos/investigacion/proyectos/VT optimization project/MBSVT/trunk/d2jacobdt2.f90 File Reference

Modules
module	d2Jacobdt2
	Module of second derivatives of the Jacobian. It's NOT a user module, it's used by the solver.
Functions/Subroutines
subroutine	d2Jacobdt2::d2Jacobdt2_Setup
subroutine	d2Jacobdt2::deallocFiqpp
subroutine	d2Jacobdt2::ddj_UnitEulParam (ir, iEul)
	The second derivatives of the jacobians of unitary Euler parameters.
subroutine	d2Jacobdt2::ddj_dot1GB (ir, iEul2, u, v)
	The second derivative of the jacobians of a dot-1 constraint attached on the ground.
subroutine	d2Jacobdt2::ddj_dot1 (ir, iEul1, iEul2, u, v)
	The second derivatives of the jacobians of the jacobians of a dot-1 constraint.
subroutine	d2Jacobdt2::ddj_sphericalGB (ir, irg2, iEul2, pt1, pt2)
	The second derivatives of the jacobians of of a spherical joint of a body attached to the ground.
subroutine	d2Jacobdt2::ddj_spherical (ir, irg1, irg2, iEul1, iEul2, pt1, pt2)
	The second derivatives of the jacobians of of a spherical joint between two bodies.
subroutine	d2Jacobdt2::ddj_revoluteGB (ir, irg2, iEul2, pt1, pt2, u1, v1, vec2)
	The second derivatives of the jacobians of of a revolute joint of a body attached to the ground.
subroutine	d2Jacobdt2::ddj_revolute (ir, irg1, irg2, iEul1, iEul2, pt1, pt2, u1, v1, vec2)
	The second derivatives of the jacobians of of a revolute joint between two bodies.
subroutine	d2Jacobdt2::ddj_transGB (ir, irg2, iEul2, pt1, pt2, vec1y, vec1x, vec2x, vec2z)
	The second derivatives of the jacobians of of a translational joint of a body attached to the ground.
subroutine	d2Jacobdt2::ddj_trans (ir, irg1, irg2, iEul1, iEul2, pt1, pt2, vec1y, vec1x, vec2x, vec2z)
	The second derivatives of the jacobians of a translational joint between two bodies.
subroutine	d2Jacobdt2::ddj_Drive_distGB (ir, irg2, iEul2, pt1, pt2_loc, i_MOTOR)
	The second derivatives of the jacobians for a distance between a point in the ground and a point of one body.
subroutine	d2Jacobdt2::ddj_Drive_dist (ir, irg1, irg2, iEul1, iEul2, pt1_loc, pt2_loc, i_MOTOR)
	The second derivatives of the jacobians for a distance between two points of two bodies.
Variables
REAL(8), dimension(:,:), allocatable	d2Jacobdt2::PROTECTED
REAL(8), dimension(:,:), allocatable	d2Jacobdt2::Fiqpp