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

Modules
module	Jacob
	Module of primitive jacobians. It's NOT a user module, it's used by the solver.
Functions/Subroutines
subroutine	Jacob::Jacob_Setup
subroutine	Jacob::deallocFiq
subroutine	Jacob::j_UnitEulParam (ir, iEul)
	CCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCC Primitive jacobian of unitary Euler parameters.
subroutine	Jacob::j_dot1GB (ir, iEul2, u, v)
	Primitive dot-1 jacobian of a body attached on the ground.
subroutine	Jacob::j_dot1 (ir, iEul1, iEul2, u, v)
	Primitive dot-1 jacobian.
subroutine	Jacob::j_sphericalGB (ir, irg2, iEul2, pt1, pt2)
	Primitive jacobians of a spherical joint of a body attached to the ground.
subroutine	Jacob::j_spherical (ir, irg1, irg2, iEul1, iEul2, pt1, pt2)
	Primitive jacobians of a spherical joint between two bodies.
subroutine	Jacob::j_revoluteGB (ir, irg2, iEul2, pt1, pt2, u1, v1, vec2)
	Primitive jacobians of a revolute joint of a body attached to the ground.
subroutine	Jacob::j_revolute (ir, irg1, irg2, iEul1, iEul2, pt1, pt2, u1, v1, vec2)
	Primitive jacobians of a revolute joint between two bodies.
subroutine	Jacob::j_transGB (ir, irg2, iEul2, pt1, pt2, vec1y, vec1x, vec2x, vec2z)
	Primitive jacobians of a translational joint of a body attached to the ground.
subroutine	Jacob::j_trans (ir, irg1, irg2, iEul1, iEul2, pt1, pt2, vec1y, vec1x, vec2x, vec2z)
	Primitive jacobians of a translational joint between two bodies.
subroutine	Jacob::j_Drive_rgEul (ir, ind, i_MOTOR)
	Primitive driving jacobians for a generalized coordinate of the system.
subroutine	Jacob::j_Drive_distGB (ir, irg2, iEul2, pt1, pt2_loc, i_MOTOR)
	Primitive driving jacobians for a distance between a point in the ground and a point of one body.
subroutine	Jacob::j_Drive_dist (ir, irg1, irg2, iEul1, iEul2, pt1_loc, pt2_loc, i_MOTOR)
	Primitive driving constraints for a distance between two points of two bodies.
Variables
REAL(8), dimension(:,:), allocatable	Jacob::PROTECTED
REAL(8), dimension(:,:), allocatable	Jacob::Fiq