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

Modules
module	jacob_jacob
	Module of , which is 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	jacob_jacob::jacob_jacob_Setup
subroutine	jacob_jacob::deallocFiqqlb
subroutine	jacob_jacob::jjlb_UnitEulParam (ir, iEul, lb)
	CCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCC of unitary Euler parameters.
subroutine	jacob_jacob::jjlb_dot1GB (ir, iEul2, u, v, lb)
	of a dot-1 jacobian of a body attached on the ground
subroutine	jacob_jacob::jjlb_dot1 (ir, iEul1, iEul2, u, v, lb)
	of a dot-1 jacobian
subroutine	jacob_jacob::jjlb_sphericalGB (ir, irg2, iEul2, pt1, pt2, lb)
	of a spherical joint of a body attached to the ground
subroutine	jacob_jacob::jjlb_spherical (ir, irg1, irg2, iEul1, iEul2, pt1, pt2, lb)
	of a spherical joint between two bodies
subroutine	jacob_jacob::jjlb_revoluteGB (ir, irg2, iEul2, pt1, pt2, u1, v1, vec2, lb)
	of a revolute joint of a body attached to the ground
subroutine	jacob_jacob::jjlb_revolute (ir, irg1, irg2, iEul1, iEul2, pt1, pt2, u1, v1, vec2, lb)
	of a revolute joint between two bodies
subroutine	jacob_jacob::jjlb_transGB (ir, irg2, iEul2, pt1, pt2, vec1y, vec1x, vec2x, vec2z, lb)
	of a translational joint of a body attached to the ground
subroutine	jacob_jacob::jjlb_trans (ir, irg1, irg2, iEul1, iEul2, pt1, pt2, vec1y, vec1x, vec2x, vec2z, lb)
	of a translational joint between two bodies
subroutine	jacob_jacob::jjlb_Drive_distGB (ir, irg2, iEul2, pt1, pt2_loc, i_MOTOR, lb)
	of a distance driving jacobians between a point in the ground and a point of one body.
subroutine	jacob_jacob::jjlb_Drive_dist (ir, irg1, irg2, iEul1, iEul2, pt1_loc, pt2_loc, i_MOTOR, lb)
	Primitive driving constraints for a distance between two points of two bodies.
Variables
REAL(8), dimension(:,:), allocatable	jacob_jacob::PROTECTED
REAL(8), dimension(:,:), allocatable	jacob_jacob::Fiqqlb