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

Modules
module	jacobT_jacob
	Module of ${\bm \Phi}_{\bf qq}^{\rm T}{\bf V}$ , which is the transpose of the jacobian of the primitive jacobian multiplied by a vector. It's NOT a user module, it's used by the solver.
Functions/Subroutines
subroutine	jacobT_jacob::jacobT_jacob_Setup
subroutine	jacobT_jacob::deallocFiqqtlb
subroutine	jacobT_jacob::resetFiqqtlb
subroutine	jacobT_jacob::jjtlb_UnitEulParam (ir, iEul, lb)
	CCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCC ${\bm \Phi}_{\bf qq}^{\rm T}{\bf V}$ of unitary Euler parameters.
subroutine	jacobT_jacob::jjtlb_dot1GB (ir, iEul2, u, v, lb)
	${\bm \Phi}_{\bf qq}^{\rm T}{\bf V}$ of dot-1 jacobian of a body attached on the ground
subroutine	jacobT_jacob::jjtlb_dot1 (ir, iEul1, iEul2, u, v, lb)
	${\bm \Phi}_{\bf qq}^{\rm T}{\bf V}$ of dot-1 jacobian
subroutine	jacobT_jacob::jjtlb_sphericalGB (ir, irg2, iEul2, pt1, pt2, lb)
	${\bm \Phi}_{\bf qq}^{\rm T}{\bf V}$ of a spherical joint of a body attached to the ground
subroutine	jacobT_jacob::jjtlb_spherical (ir, irg1, irg2, iEul1, iEul2, pt1, pt2, lb)
	${\bm \Phi}_{\bf qq}^{\rm T}{\bf V}$ of a spherical joint between two bodies
subroutine	jacobT_jacob::jjtlb_revoluteGB (ir, irg2, iEul2, pt1, pt2, u1, v1, vec2, lb)
	${\bm \Phi}_{\bf qq}^{\rm T}{\bf V}$ of a revolute joint of a body attached to the ground
subroutine	jacobT_jacob::jjtlb_revolute (ir, irg1, irg2, iEul1, iEul2, pt1, pt2, u1, v1, vec2, lb)
	${\bm \Phi}_{\bf qq}^{\rm T}{\bf V}$ of a revolute joint between two bodies
subroutine	jacobT_jacob::jjtlb_transGB (ir, irg2, iEul2, pt1, pt2, vec1y, vec1x, vec2x, vec2z, lb)
	${\bm \Phi}_{\bf qq}^{\rm T}{\bf V}$ of a translational joint of a body attached to the ground
subroutine	jacobT_jacob::jjtlb_trans (ir, irg1, irg2, iEul1, iEul2, pt1, pt2, vec1y, vec1x, vec2x, vec2z, lb)
	${\bm \Phi}_{\bf qq}^{\rm T}{\bf V}$ of a translational joint between two bodies
subroutine	jacobT_jacob::jjtlb_Drive_distGB (ir, irg2, iEul2, pt1, pt2_loc, i_MOTOR, lb)
	${\bm \Phi}_{\bf qq}^{\rm T}{\bf V}$ of driving jacobians for a distance between a point in the ground and a point of one body.
subroutine	jacobT_jacob::jjtlb_Drive_dist (ir, irg1, irg2, iEul1, iEul2, pt1_loc, pt2_loc, i_MOTOR, lb)
	${\bm \Phi}_{\bf qq}^{\rm T}{\bf V}$ of driving constraints for a distance between two points of two bodies.
Variables
REAL(8), dimension(:,:), allocatable	jacobT_jacob::PROTECTED
REAL(8), dimension(:,:), allocatable	jacobT_jacob::Fiqqtlb

Modules

Functions/Subroutines

Variables