Solids module that adds and manages the bodies of the system. More...

Functions/Subroutines
subroutine, public	ADDbody (body, rg0, eu0)
	Adds a body to the model.
subroutine, public	ADDmassgeom (body, mass, rg_loc, v_Ig)
	Subroutine to add mass, center of masses and inertia tensor with respect to the center of mass to a body.
REAL(8), public	MatTrans (body)
	Function to calculate the transformation matrix of a body ${\bf A}^* =\left[\begin{array}{c c} {\bf R} & {\bf p}_0 \\ {\bf 0} & 1 \end{array}\right]$ .
REAL(8), dimension(3), public	r (body, pt_loc)
	Function to evaluate the global position of a point belonging to a body.
REAL(8), dimension(3), public	rp (body, pt_loc)
	Function to evaluate the global velocity of a point belonging to a body.
REAL(8), dimension(3), public	v (body, vc_loc)
	Function to evaluate the global coordinates of a vector belonging to a body.
REAL(8), dimension(3), public	vp (body, vc_loc)
	Function to evaluate the global velocity of a vector belonging to a body.
REAL(8), dimension(3), public	rloc (body, pt_glob)
	Function to evaluate the local position of a global point as belonging to a body.
REAL(8), dimension(3)	vloc (body, vc_glob)
	Function to evaluate the local coordinates of a global vector as belonging to a body.
REAL(8), dimension(3, 7), public	drdq (body, pt_loc)
	Function to evaluate the derivative of the position of a point belonging to a body wrt to the generalized coordinates of the body.
REAL(8), dimension(3, 7), public	dvdq (body, vc_loc)
	Function to evaluate the derivative of the position of a vector belonging to a body wrt to the generalized coordinates of the body.
REAL(8), dimension(3, 7), public	drpdq (body, pt_loc)
	Function to evaluate the derivative of the velocity of a point belonging to a body wrt to the generalized coordinates of the body.
REAL(8), dimension(3, 7), public	dvpdq (body, vc_loc)
	Function to evaluate the derivative of the velocity of a vector belonging to a body wrt to the generalized coordinates of the body.
REAL(8), dimension(3, 7), public	drpdqp (body, pt_loc)
	Function to evaluate the derivative of the velocity of a point belonging to a body wrt to the generalized coordinates of the body.
REAL(8), dimension(3, 7), public	dvpdqp (body, vc_loc)
	Function to evaluate the derivative of the velocity of a point belonging to a body wrt to the generalized coordinates of the body.
Variables
TYPE(SOLID), dimension(:), allocatable, public	PROTECTED
TYPE(SOLID), dimension(:), allocatable, public	SOLIDlist
INTEGER, parameter, public	ground = 0
INTEGER, public	nSOLID = 0

Detailed Description

Solids module that adds and manages the bodies of the system.

This module:

1)Adds bodies to the model.
2)Adds mass, center of mass and intertia tensor to the existing bodies.
3)Manages the creation of the vector of variables of the model

Function/Subroutine Documentation

subroutine,public SOLIDS::ADDbody	(	INTEGER,intent(out)	body,
		REAL(8),dimension(3)	rg0,
		REAL(8),dimension(4)	eu0
	)

Adds a body to the model.

Parameters:

body	output variable that stores the id of the body. The user should keep it unchanged for future requests to the library.
rg0	initial guess for the coordinates of the center of mass of the body
eu0	initial guess for the Euler parameters of the body

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subroutine,public SOLIDS::ADDmassgeom	(	INTEGER,intent(in)	body,
		REAL(8),intent(in)	mass,
		REAL(8),dimension(3),intent(in)	rg_loc,
		REAL(8),dimension(6),intent(in)	v_Ig
	)

Subroutine to add mass, center of masses and inertia tensor with respect to the center of mass to a body.

Parameters:

body	body involved.
mass	value of the mass.
rg_loc	center of mass of the body in the local reference frame of the body.
v_Ig	components of the inertia tensor in the local reference frame of the body, with respect to its center of mass, given in the compact form: ${\bf I}_g =\left[\begin{array}{c c c c c c} I_x & I_y & I_z & P_{xy} & P_{xz} & P_{yz}\end{array}\right]$

REAL(8),dimension(3,7),public SOLIDS::drdq	(	INTEGER,intent(in)	body,
		REAL(8),dimension(3),intent(in)	pt_loc
	)

Function to evaluate the derivative of the position of a point belonging to a body wrt to the generalized coordinates of the body.

Parameters:

body	body involved.
pt_loc	local coordinates of the point.

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REAL(8),dimension(3,7),public SOLIDS::drpdq	(	INTEGER,intent(in)	body,
		REAL(8),dimension(3),intent(in)	pt_loc
	)

Function to evaluate the derivative of the velocity of a point belonging to a body wrt to the generalized coordinates of the body.

Parameters:

body	body involved.
pt_loc	local coordinates of the point.

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REAL(8),dimension(3,7),public SOLIDS::drpdqp	(	INTEGER,intent(in)	body,
		REAL(8),dimension(3),intent(in)	pt_loc
	)

Function to evaluate the derivative of the velocity of a point belonging to a body wrt to the generalized coordinates of the body.

Parameters:

body	body involved.
pt_loc	local coordinates of the point.

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REAL(8),dimension(3,7),public SOLIDS::dvdq	(	INTEGER,intent(in)	body,
		REAL(8),dimension(3),intent(in)	vc_loc
	)

Function to evaluate the derivative of the position of a vector belonging to a body wrt to the generalized coordinates of the body.

Parameters:

body	body involved.
vc_loc	local coordinates of the vector.

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REAL(8),dimension(3,7),public SOLIDS::dvpdq	(	INTEGER,intent(in)	body,
		REAL(8),dimension(3),intent(in)	vc_loc
	)

Function to evaluate the derivative of the velocity of a vector belonging to a body wrt to the generalized coordinates of the body.

Parameters:

body	body involved.
vc_loc	local coordinates of the vector.

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REAL(8),dimension(3,7),public SOLIDS::dvpdqp	(	INTEGER,intent(in)	body,
		REAL(8),dimension(3),intent(in)	vc_loc
	)

Function to evaluate the derivative of the velocity of a point belonging to a body wrt to the generalized coordinates of the body.

Parameters:

body	body involved.
pt_loc	local coordinates of the point.

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REAL(8),public SOLIDS::MatTrans ( INTEGER,intent(in) body )

Function to calculate the transformation matrix of a body ${\bf A}^* =\left[\begin{array}{c c} {\bf R} & {\bf p}_0 \\ {\bf 0} & 1 \end{array}\right]$ .

Parameters:

body	body involved.

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REAL(8),dimension(3),public SOLIDS::r	(	INTEGER,intent(in)	body,
		REAL(8),dimension(3),intent(in)	pt_loc
	)

Function to evaluate the global position of a point belonging to a body.

Parameters:

body	body involved.
pt_loc	local coordinates of the point.

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REAL(8),dimension(3),public SOLIDS::rloc	(	INTEGER,intent(in)	body,
		REAL(8),dimension(3),intent(in)	pt_glob
	)

Function to evaluate the local position of a global point as belonging to a body.

Parameters:

body	body involved.
pt_glob	global coordinates of the point.

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REAL(8),dimension(3),public SOLIDS::rp	(	INTEGER,intent(in)	body,
		REAL(8),dimension(3),intent(in)	pt_loc
	)

Function to evaluate the global velocity of a point belonging to a body.

Parameters:

body	body involved.
pt_loc	local coordinates of the point.

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REAL(8),dimension(3),public SOLIDS::v	(	INTEGER,intent(in)	body,
		REAL(8),dimension(3),intent(in)	vc_loc
	)

Function to evaluate the global coordinates of a vector belonging to a body.

Parameters:

body	body involved.
vc_loc	local coordinates of the vector.

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REAL(8),dimension(3) SOLIDS::vloc	(	INTEGER,intent(in)	body,
		REAL(8),dimension(3),intent(in)	vc_glob
	)

Function to evaluate the local coordinates of a global vector as belonging to a body.

Parameters:

body	body involved.
vc_glob	global coordinates of the vector.

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REAL(8),dimension(3),public SOLIDS::vp	(	INTEGER,intent(in)	body,
		REAL(8),dimension(3),intent(in)	vc_loc
	)

Function to evaluate the global velocity of a vector belonging to a body.

Parameters:

body	body involved.
vc_loc	local coordinates of the vector.

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Variable Documentation

INTEGER,parameter,public SOLIDS::ground = 0

INTEGER,public SOLIDS::nSOLID = 0

INTEGER,dimension(:),allocatable,public SOLIDS::PROTECTED

TYPE(SOLID),dimension(:),allocatable,public SOLIDS::SOLIDlist

Functions/Subroutines

Variables

Detailed Description

Function/Subroutine Documentation

Variable Documentation