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

Modules
module	jacob_djacobdt_qp
	Module of $(\dot{\bm \Phi}_{\bf q}{\dot{\bf q}})_{\bf q}$ . It's NOT a user module, it's used by the solver.
Functions/Subroutines
subroutine	jacob_djacobdt_qp::jacob_djacobdt_qp_Setup
subroutine	jacob_djacobdt_qp::deallocFiqpqpq
subroutine	jacob_djacobdt_qp::jd_dot1 (ir, iEul1, iEul2, u, v)
	$\dot{\bm \Phi}{\bf q}{\dot{\bf q}}$ of a dot-1 constraint.
subroutine	jacob_djacobdt_qp::jd_revolute (ir, irg1, irg2, iEul1, iEul2, pt1, pt2, u1, v1, vec2)
	$(\dot{\bf \Phi}{\bf q}\dot{\bf q}){\bf q}$ of a revolute joint between two bodies
subroutine	jacob_djacobdt_qp::jd_transGB (ir, irg2, iEul2, pt1, pt2, vec1y, vec1x, vec2x, vec2z)
	$(\dot{\bf \Phi}{\bf q}\dot{\bf q}){\bf q}$ of a translational joint of a body attached to the ground
subroutine	jacob_djacobdt_qp::jd_trans (ir, irg1, irg2, iEul1, iEul2, pt1, pt2, vec1y, vec1x, vec2x, vec2z)
	$(\dot{\bf \Phi}{\bf q}\dot{\bf q}){\bf q}$ of a translational joint between two bodies
subroutine	jacob_djacobdt_qp::jd_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	jacob_djacobdt_qp::jd_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.
Variables
REAL(8), dimension(:,:), allocatable	jacob_djacobdt_qp::PROTECTED
REAL(8), dimension(:,:), allocatable	jacob_djacobdt_qp::Fiqpqpq

Modules