dJacobdt Module Reference

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

Functions/Subroutines
subroutine	dJacobdt_Setup
subroutine	deallocFiqp
subroutine	dj_UnitEulParam (ir, iEul)
	CCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCC.
subroutine	dj_dot1GB (ir, iEul2, u, v)
	The first derivative of the jacobians of a dot-1 constraint attached on the ground.
subroutine	dj_dot1 (ir, iEul1, iEul2, u, v)
	The first derivative of the jacobians of a dot-1 constraint.
subroutine	dj_sphericalGB (ir, irg2, iEul2, pt1, pt2)
	The first derivative of the jacobians of a spherical joint of a body attached to the ground.
subroutine	dj_spherical (ir, irg1, irg2, iEul1, iEul2, pt1, pt2)
	The first derivative of the jacobians of a spherical joint between two bodies.
subroutine	dj_revoluteGB (ir, irg2, iEul2, pt1, pt2, u1, v1, vec2)
	The first derivative of the jacobians of a revolute joint of a body attached to the ground.
subroutine	dj_revolute (ir, irg1, irg2, iEul1, iEul2, pt1, pt2, u1, v1, vec2)
	The first derivative of the jacobians of a revolute joint between two bodies.
subroutine	dj_transGB (ir, irg2, iEul2, pt1, pt2, vec1y, vec1x, vec2x, vec2z)
	The first derivative of the jacobians of a translational joint of a body attached to the ground.
subroutine	dj_trans (ir, irg1, irg2, iEul1, iEul2, pt1, pt2, vec1y, vec1x, vec2x, vec2z)
	The first derivative of the jacobians of a translational joint between two bodies.
subroutine	dj_Drive_distGB (ir, irg2, iEul2, pt1, pt2_loc, i_MOTOR)
	The first derivative of the jacobians for a distance between a point in the ground and a point of one body.
subroutine	dj_Drive_dist (ir, irg1, irg2, iEul1, iEul2, pt1_loc, pt2_loc, i_MOTOR)
	The first derivative of the jacobians for a distance between two points of two bodies.
Variables
REAL(8), dimension(:,:), allocatable	PROTECTED
REAL(8), dimension(:,:), allocatable	Fiqp

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Detailed Description

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

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Function/Subroutine Documentation

subroutine dJacobdt::deallocFiqp

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subroutine dJacobdt::dj_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 first derivative 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 dJacobdt::dj_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 first 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 dJacobdt::dj_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 first derivative 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 dJacobdt::dj_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 first derivative 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 dJacobdt::dj_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 first derivative of the 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 dJacobdt::dj_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 first derivative of the 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 dJacobdt::dj_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 first derivative of the 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 dJacobdt::dj_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 first derivative of the 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 dJacobdt::dj_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 first derivative 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 dJacobdt::dj_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 first derivative of the 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 dJacobdt::dj_UnitEulParam	(	integer,intent(in)	ir,
		integer,dimension(4),intent(in)	iEul
	)

CCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCC.

CCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCC The first derivative of the jacobians of unitary Euler parameters

Parameters:

ir	index of the constraint
iEul	indexes of the Euler parameters

subroutine dJacobdt::dJacobdt_Setup

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Variable Documentation

REAL(8),dimension(:,:),allocatable dJacobdt::Fiqp

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