MBSVT: D:/Mis_Documentos/investigacion/proyectos/VT optimization project/MBSVT/trunk/djacobdt

Modules
module	djacobdt_qp
	Module of derivatives of the Jacobian mutiplied by the velocity vector. It's NOT a user module, it's used by the solver.
Functions/Subroutines
subroutine	djacobdt_qp::djacobdt_qp_Setup
subroutine	djacobdt_qp::deallocfiqpqp
subroutine	djacobdt_qp::deallocfit
subroutine	djacobdt_qp::d_UnitEulParam (ir, iEul)
	$\dot{\bm \Phi}_{\bf q}\dot{\bf q}$ , which is the derevative of jacobian with respect to time multiplies the velocity vector $\dot{\bm \Phi}_{\bf q}\dot{\bf q}$ of unitary Euler parameters
subroutine	djacobdt_qp::d_dot1GB (ir, iEul2, u, v)
	$\dot{\bm \Phi}_{\bf q}\dot{\bf q}$ of a dot-1 constraint attached on the ground
subroutine	djacobdt_qp::d_dot1 (ir, iEul1, iEul2, u, v)
	$\dot{\bm \Phi}_{\bf q}\dot{\bf q}$ of a dot-1 constraint.
subroutine	djacobdt_qp::d_sphericalGB (ir, irg2, iEul2, pt1, pt2)
	$\dot{\bm \Phi}_{\bf q}\dot{\bf q}$ of a spherical joint of a body attached to the ground
subroutine	djacobdt_qp::d_spherical (ir, irg1, irg2, iEul1, iEul2, pt1, pt2)
	$\dot{\bm \Phi}_{\bf q}\dot{\bf q}$ of a spherical joint between two bodies
subroutine	djacobdt_qp::d_revoluteGB (ir, irg2, iEul2, pt1, pt2, u1, v1, vec2)
	$\dot{\bm \Phi}_{\bf q}\dot{\bf q}$ of a revolute joint of a body attached to the ground
subroutine	djacobdt_qp::d_revolute (ir, irg1, irg2, iEul1, iEul2, pt1, pt2, u1, v1, vec2)
	$\dot{\bm \Phi}_{\bf q}\dot{\bf q}$ of a revolute joint between two bodies
subroutine	djacobdt_qp::d_transGB (ir, irg2, iEul2, pt1, pt2, vec1y, vec1x, vec2x, vec2z)
	$\dot{\bm \Phi}_{\bf q}\dot{\bf q}$ of a translational joint of a body attached to the ground
subroutine	djacobdt_qp::d_trans (ir, irg1, irg2, iEul1, iEul2, pt1, pt2, vec1y, vec1x, vec2x, vec2z)
	$\dot{\bm \Phi}_{\bf q}\dot{\bf q}$ of a translational joint between two bodies
subroutine	djacobdt_qp::d_Drive_distGB (ir, irg2, iEul2, pt1, pt2_loc, i_MOTOR)
	$\dot{\bm \Phi}_{\bf q}\dot{\bf q}$ for a distance between a point in the ground and a point of one body.
subroutine	djacobdt_qp::d_Drive_dist (ir, irg1, irg2, iEul1, iEul2, pt1_loc, pt2_loc, i_MOTOR)
	$\dot{\bm \Phi}_{\bf q}\dot{\bf q}$ for a distance between two points of two bodies.
subroutine	djacobdt_qp::dt_Drive_rgEul (ir, ind, i_MOTOR)
	$\dot{\bm \Phi}_{\bf q}\dot{\bf q}$ for a generalized coordinate of the system.
subroutine	djacobdt_qp::dtp_Drive_rgEul (ir, ind, i_MOTOR)
	$\dot{\bm \Phi}_{\bf q}\dot{\bf q}$ for a generalized coordinate of the system.
subroutine	djacobdt_qp::dt_Drive_dist (ir, i_MOTOR)
	$\dot{\bm \Phi}_{\bf q}\dot{\bf q}$ for a distance.
subroutine	djacobdt_qp::dtp_Drive_dist (ir, i_MOTOR)
	$\dot{\bm \Phi}_{\bf q}\dot{\bf q}$ for a distance.
Variables
REAL(8), dimension(:), allocatable	djacobdt_qp::PROTECTED
REAL(8), dimension(:), allocatable	djacobdt_qp::fiqpqp
REAL(8), dimension(:), allocatable	djacobdt_qp::fit
REAL(8), dimension(:), allocatable	djacobdt_qp::fitp

Modules

Functions/Subroutines

Variables