MBSVT: d2Jacobdt2 Module Reference

MBSVT 1.0

Module of second derivatives of the Jacobian. It's NOT a user module, it's used by the solver. More...

Functions/Subroutines
subroutine	d2Jacobdt2_Setup
subroutine	deallocFiqpp
subroutine	ddj_UnitEulParam (ir, iEul)
	The second derivatives of the jacobians of unitary Euler parameters.
subroutine	ddj_dot1GB (ir, iEul2, u, v)
	The second derivative of the jacobians of a dot-1 constraint attached on the ground.
subroutine	ddj_dot1 (ir, iEul1, iEul2, u, v)
	The second derivatives of the jacobians of the jacobians of a dot-1 constraint.
subroutine	ddj_sphericalGB (ir, irg2, iEul2, pt1, pt2)
	The second derivatives of the jacobians of of a spherical joint of a body attached to the ground.
subroutine	ddj_spherical (ir, irg1, irg2, iEul1, iEul2, pt1, pt2)
	The second derivatives of the jacobians of of a spherical joint between two bodies.
subroutine	ddj_revoluteGB (ir, irg2, iEul2, pt1, pt2, u1, v1, vec2)
	The second derivatives of the jacobians of of a revolute joint of a body attached to the ground.
subroutine	ddj_revolute (ir, irg1, irg2, iEul1, iEul2, pt1, pt2, u1, v1, vec2)
	The second derivatives of the jacobians of of a revolute joint between two bodies.
subroutine	ddj_transGB (ir, irg2, iEul2, pt1, pt2, vec1y, vec1x, vec2x, vec2z)
	The second derivatives of the jacobians of of a translational joint of a body attached to the ground.
subroutine	ddj_trans (ir, irg1, irg2, iEul1, iEul2, pt1, pt2, vec1y, vec1x, vec2x, vec2z)
	The second derivatives of the jacobians of a translational joint between two bodies.
subroutine	ddj_Drive_distGB (ir, irg2, iEul2, pt1, pt2_loc, i_MOTOR)
	The second derivatives of the jacobians for a distance between a point in the ground and a point of one body.
subroutine	ddj_Drive_dist (ir, irg1, irg2, iEul1, iEul2, pt1_loc, pt2_loc, i_MOTOR)
	The second derivatives of the jacobians for a distance between two points of two bodies.
Variables
REAL(8), dimension(:,:), allocatable	PROTECTED
REAL(8), dimension(:,:), allocatable	Fiqpp

Detailed Description

Module of second derivatives of the Jacobian. It's NOT a user module, it's used by the solver.

Function/Subroutine Documentation

subroutine d2Jacobdt2::d2Jacobdt2_Setup ( )

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subroutine d2Jacobdt2::ddj_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
	)

The second derivatives of the jacobians of the jacobians of a dot-1 constraint.

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 d2Jacobdt2::ddj_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
	)

The second derivative of the jacobians of a dot-1 constraint 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 d2Jacobdt2::ddj_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
	)

The second derivatives of the jacobians 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 d2Jacobdt2::ddj_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
	)

The second derivatives of the 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 d2Jacobdt2::ddj_revolute	(	integer,intent(in)	ir,
		integer,dimension(3),intent(in),optional	irg1,
		integer,dimension(3),intent(in),optional	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
	)

The second derivatives of the jacobians of 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 d2Jacobdt2::ddj_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
	)

The second derivatives of the jacobians of 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 d2Jacobdt2::ddj_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
	)

The second derivatives of the jacobians of 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 d2Jacobdt2::ddj_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
	)

The second derivatives of the jacobians of 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 d2Jacobdt2::ddj_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
	)

The second derivatives of the 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 d2Jacobdt2::ddj_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
	)

The second derivatives of the jacobians of 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 d2Jacobdt2::ddj_UnitEulParam	(	integer,intent(in)	ir,
		integer,dimension(4),intent(in)	iEul
	)

The second derivatives of the jacobians of unitary Euler parameters.

Parameters:

ir	index of the constraint
iEul	indexes of the Euler parameters

subroutine d2Jacobdt2::deallocFiqpp ( )

Variable Documentation

REAL(8),dimension(:,:),allocatable d2Jacobdt2::Fiqpp

REAL(8),dimension(:,:),allocatable d2Jacobdt2::PROTECTED