Jacob Module Reference

Module of primitive jacobians. It's NOT a user module, it's used by the solver. More...

Functions/Subroutines
subroutine	Jacob_Setup
subroutine	deallocFiq
subroutine	j_UnitEulParam (ir, iEul)
	CCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCC Primitive jacobian of unitary Euler parameters.
subroutine	j_dot1GB (ir, iEul2, u, v)
	Primitive dot-1 jacobian of a body attached on the ground.
subroutine	j_dot1 (ir, iEul1, iEul2, u, v)
	Primitive dot-1 jacobian.
subroutine	j_sphericalGB (ir, irg2, iEul2, pt1, pt2)
	Primitive jacobians of a spherical joint of a body attached to the ground.
subroutine	j_spherical (ir, irg1, irg2, iEul1, iEul2, pt1, pt2)
	Primitive jacobians of a spherical joint between two bodies.
subroutine	j_revoluteGB (ir, irg2, iEul2, pt1, pt2, u1, v1, vec2)
	Primitive jacobians of a revolute joint of a body attached to the ground.
subroutine	j_revolute (ir, irg1, irg2, iEul1, iEul2, pt1, pt2, u1, v1, vec2)
	Primitive jacobians of a revolute joint between two bodies.
subroutine	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	j_trans (ir, irg1, irg2, iEul1, iEul2, pt1, pt2, vec1y, vec1x, vec2x, vec2z)
	Primitive jacobians of a translational joint between two bodies.
subroutine	j_Drive_rgEul (ir, ind, i_MOTOR)
	Primitive driving jacobians for a generalized coordinate of the system.
subroutine	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	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	PROTECTED
REAL(8), dimension(:,:), allocatable	Fiq

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Detailed Description

Module of primitive jacobians. It's NOT a user module, it's used by the solver.

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Function/Subroutine Documentation

subroutine Jacob::deallocFiq

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subroutine Jacob::j_dot1	(	integer,intent(in)	ir,
		integer,dimension(4),intent(in)	iEul1,
		integer,dimension(4),intent(in)	iEul2,
		real(8),dimension(3),intent(in)	u,
		real(8),dimension(3),intent(in)	v
	)

Primitive dot-1 jacobian.

Parameters:

ir	index of the constraint
iEul1,iEul2	indexes of the Euler parameters of the bodies.
u	vector in the first body given in the body reference frame
v	vector in the second body given in the body reference frame

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subroutine Jacob::j_dot1GB	(	integer,intent(in)	ir,
		integer,dimension(4),intent(in)	iEul2,
		real(8),dimension(3),intent(in)	u,
		real(8),dimension(3),intent(in)	v
	)

Primitive dot-1 jacobian of a body attached on the ground.

Parameters:

ir	index of the constraint
iEul2	indexes of the Euler parameters of the body.
u	vector attached on the ground
v	vector in the second body given in the body reference frame

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subroutine Jacob::j_Drive_dist	(	INTEGER,intent(in)	ir,
		INTEGER,dimension(3),intent(in)	irg1,
		INTEGER,dimension(3),intent(in)	irg2,
		INTEGER,dimension(4),intent(in)	iEul1,
		INTEGER,dimension(4),intent(in)	iEul2,
		REAL(8),dimension(3),intent(in)	pt1_loc,
		REAL(8),dimension(3),intent(in)	pt2_loc,
		INTEGER,intent(in)	i_MOTOR
	)

Primitive driving constraints for a distance between two points of two bodies.

Parameters:

ir	index of the constraint.
irg1,irg2	indexes of the centers of mass of the bodies.
iEul1,iEul2	indexes of the Euler parameters of the bodies.
pt1_loc	point in the first body given in the body reference frame
pt2_loc	point in the second body given in the body reference frame
i_MOTOR	index in the vector of motors (STATE::pos) to drive the constraint.

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subroutine Jacob::j_Drive_distGB	(	INTEGER,intent(in)	ir,
		INTEGER,dimension(3),intent(in)	irg2,
		INTEGER,dimension(4),intent(in)	iEul2,
		REAL(8),dimension(3),intent(in)	pt1,
		REAL(8),dimension(3),intent(in)	pt2_loc,
		INTEGER,intent(in)	i_MOTOR
	)

Primitive driving jacobians for a distance between a point in the ground and a point of one body.

Parameters:

ir	index of the constraint.
irg2	index of the center of mass of the body.
iEul2	index of the Euler parameters of the body.
pt1	point in the ground given in the global reference frame
pt2_loc	point in the second body given in the body reference frame
i_MOTOR	index in the vector of motors (STATE::pos) to drive the constraint.

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subroutine Jacob::j_Drive_rgEul	(	INTEGER,intent(in)	ir,
		INTEGER,intent(in)	ind,
		INTEGER,intent(in)	i_MOTOR
	)

Primitive driving jacobians for a generalized coordinate of the system.

Parameters:

ir	index of the constraint
ind	index of the driven generalized coordinate.
i_MOTOR	index in the vector of motors (STATE::pos) to drive the constraint. It is not necessary here, but it is kept for compatibility of the interfaces (less easy to make mistakes)

subroutine Jacob::j_revolute	(	integer,intent(in)	ir,
		integer,dimension(3),intent(in)	irg1,
		integer,dimension(3),intent(in)	irg2,
		integer,dimension(4),intent(in)	iEul1,
		integer,dimension(4),intent(in)	iEul2,
		REAL(8),dimension(3),intent(in)	pt1,
		REAL(8),dimension(3),intent(in)	pt2,
		REAL(8),dimension(3),intent(in)	u1,
		REAL(8),dimension(3),intent(in)	v1,
		REAL(8),dimension(3),intent(in)	vec2
	)

Primitive jacobians of a revolute joint between two bodies.

Parameters:

ir	index of the constraint
irg1,irg2	indexes of the centers of mass of the bodies.
iEul1,iEul2	indexes of the Euler parameters of the bodies.
pt1,pt2	points given in the bodies reference frames
u1,v1	perpendicular vectors in the first body
vec2	vector in the second body given in the body reference frame

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subroutine Jacob::j_revoluteGB	(	integer,intent(in)	ir,
		integer,dimension(3),intent(in)	irg2,
		integer,dimension(4),intent(in)	iEul2,
		REAL(8),dimension(3),intent(in)	pt1,
		REAL(8),dimension(3),intent(in)	pt2,
		REAL(8),dimension(3),intent(in)	u1,
		REAL(8),dimension(3),intent(in)	v1,
		REAL(8),dimension(3),intent(in)	vec2
	)

Primitive jacobians of a revolute joint of a body attached to the ground.

Parameters:

ir	index of the constraint
irg2	index of the center of mass of the body
iEul2	index of the Euler parameters of the body
pt1	point in the ground
pt2	point in the body given in the body reference frame
u1,u2	perpendicular vectors in the ground
vec2	vector in the body given in the body reference frame

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subroutine Jacob::j_spherical	(	integer,intent(in)	ir,
		integer,dimension(3),intent(in)	irg1,
		integer,dimension(3),intent(in)	irg2,
		integer,dimension(4),intent(in)	iEul1,
		integer,dimension(4),intent(in)	iEul2,
		real(8),dimension(3),intent(in)	pt1,
		real(8),dimension(3),intent(in)	pt2
	)

Primitive jacobians of a spherical joint between two bodies.

Parameters:

ir	index of the constraint
irg1,irg2	indexes of the centers of mass of the bodies.
iEul1,iEul2	indexes of the Euler parameters of the bodies.
pt1,pt2	points given in the bodies reference frames

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subroutine Jacob::j_sphericalGB	(	integer,intent(in)	ir,
		integer,dimension(3),intent(in)	irg2,
		integer,dimension(4),intent(in)	iEul2,
		real(8),dimension(3),intent(in)	pt1,
		real(8),dimension(3),intent(in)	pt2
	)

Primitive jacobians of a spherical joint of a body attached to the ground.

Parameters:

ir	index of the constraint
irg2	index of the center of mass of the body
iEul2	index of the Euler parameters of the body
pt1	point in the ground
pt2	point in the body given in the body reference frame

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subroutine Jacob::j_trans	(	integer,intent(in)	ir,
		integer,dimension(3),intent(in)	irg1,
		integer,dimension(3),intent(in)	irg2,
		integer,dimension(4),intent(in)	iEul1,
		integer,dimension(4),intent(in)	iEul2,
		REAL(8),dimension(3),intent(in)	pt1,
		REAL(8),dimension(3),intent(in)	pt2,
		REAL(8),dimension(3),intent(in)	vec1y,
		REAL(8),dimension(3),intent(in)	vec1x,
		REAL(8),dimension(3),intent(in)	vec2x,
		REAL(8),dimension(3),intent(in)	vec2z
	)

Primitive jacobians of a translational joint between two bodies.

Parameters:

ir	index of the constraint
irg1,irg2	indexes of the centers of mass of the bodies.
iEul1,iEul2	indexes of the Euler parameters of the bodies.
pt1	point given in the first body given in the body reference frame
pt2	point given in the second body given in the body reference frame
vec1y,vec1x	perpendicular vectors in the first body given in the body reference frame
vec2x,vec2z	perpendicular vectors in the second body given in the body reference frame

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subroutine Jacob::j_transGB	(	integer,intent(in)	ir,
		integer,dimension(3),intent(in)	irg2,
		integer,dimension(4),intent(in)	iEul2,
		REAL(8),dimension(3),intent(in)	pt1,
		REAL(8),dimension(3),intent(in)	pt2,
		REAL(8),dimension(3),intent(in)	vec1y,
		REAL(8),dimension(3),intent(in)	vec1x,
		REAL(8),dimension(3),intent(in)	vec2x,
		REAL(8),dimension(3),intent(in)	vec2z
	)

Primitive jacobians of a translational joint of a body attached to the ground.

Parameters:

ir	index of the constraint
irg2	index of the center of mass of the body
iEul2	index of the Euler parameter of the body.
pt1	point in the ground
pt2	point in the body given in the body reference frame
vec1y,vec1x	perpendicular vectors in the ground
vec2x,vec2z	perpendicular vectors in the body given in the body reference frame

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subroutine Jacob::j_UnitEulParam	(	integer,intent(in)	ir,
		integer,dimension(4),intent(in)	iEul
	)

CCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCC Primitive jacobian of unitary Euler parameters.

Parameters:

ir	index of the constraint
iEul	indexes of the Euler parameters

subroutine Jacob::Jacob_Setup

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Variable Documentation

REAL(8),dimension(:,:),allocatable Jacob::Fiq

REAL(8),dimension(:,:),allocatable Jacob::PROTECTED