Module of ${\bm \Phi}_{\bf qq}^{\rm T}{\bf V}$ , which is the transpose of the jacobian of the primitive jacobian multiplied by a vector. It's NOT a user module, it's used by the solver. More...

Functions/Subroutines
subroutine	jacobT_jacob_Setup
subroutine	deallocFiqqtlb
subroutine	resetFiqqtlb
subroutine	jjtlb_UnitEulParam (ir, iEul, lb)
	CCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCC ${\bm \Phi}_{\bf qq}^{\rm T}{\bf V}$ of unitary Euler parameters.
subroutine	jjtlb_dot1GB (ir, iEul2, u, v, lb)
	${\bm \Phi}_{\bf qq}^{\rm T}{\bf V}$ of dot-1 jacobian of a body attached on the ground
subroutine	jjtlb_dot1 (ir, iEul1, iEul2, u, v, lb)
	${\bm \Phi}_{\bf qq}^{\rm T}{\bf V}$ of dot-1 jacobian
subroutine	jjtlb_sphericalGB (ir, irg2, iEul2, pt1, pt2, lb)
	${\bm \Phi}_{\bf qq}^{\rm T}{\bf V}$ of a spherical joint of a body attached to the ground
subroutine	jjtlb_spherical (ir, irg1, irg2, iEul1, iEul2, pt1, pt2, lb)
	${\bm \Phi}_{\bf qq}^{\rm T}{\bf V}$ of a spherical joint between two bodies
subroutine	jjtlb_revoluteGB (ir, irg2, iEul2, pt1, pt2, u1, v1, vec2, lb)
	${\bm \Phi}_{\bf qq}^{\rm T}{\bf V}$ of a revolute joint of a body attached to the ground
subroutine	jjtlb_revolute (ir, irg1, irg2, iEul1, iEul2, pt1, pt2, u1, v1, vec2, lb)
	${\bm \Phi}_{\bf qq}^{\rm T}{\bf V}$ of a revolute joint between two bodies
subroutine	jjtlb_transGB (ir, irg2, iEul2, pt1, pt2, vec1y, vec1x, vec2x, vec2z, lb)
	${\bm \Phi}_{\bf qq}^{\rm T}{\bf V}$ of a translational joint of a body attached to the ground
subroutine	jjtlb_trans (ir, irg1, irg2, iEul1, iEul2, pt1, pt2, vec1y, vec1x, vec2x, vec2z, lb)
	${\bm \Phi}_{\bf qq}^{\rm T}{\bf V}$ of a translational joint between two bodies
subroutine	jjtlb_Drive_distGB (ir, irg2, iEul2, pt1, pt2_loc, i_MOTOR, lb)
	${\bm \Phi}_{\bf qq}^{\rm T}{\bf V}$ of driving jacobians for a distance between a point in the ground and a point of one body.
subroutine	jjtlb_Drive_dist (ir, irg1, irg2, iEul1, iEul2, pt1_loc, pt2_loc, i_MOTOR, lb)
	${\bm \Phi}_{\bf qq}^{\rm T}{\bf V}$ of driving constraints for a distance between two points of two bodies.
Variables
REAL(8), dimension(:,:), allocatable	PROTECTED
REAL(8), dimension(:,:), allocatable	Fiqqtlb

Detailed Description

Module of ${\bm \Phi}_{\bf qq}^{\rm T}{\bf V}$ , which is the transpose of the jacobian of the primitive jacobian multiplied by a vector. It's NOT a user module, it's used by the solver.

Function/Subroutine Documentation

subroutine jacobT_jacob::deallocFiqqtlb ( )

subroutine jacobT_jacob::jacobT_jacob_Setup ( )

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subroutine jacobT_jacob::jjtlb_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,
		REAL(8),dimension(nrt),intent(in)	lb
	)

${\bm \Phi}_{\bf qq}^{\rm T}{\bf V}$ of 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
lb	the vector multiplied by ${\bm \Phi}_{\bf qq}^{\rm T}$

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subroutine jacobT_jacob::jjtlb_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,
		REAL(8),dimension(nrt),intent(in)	lb
	)

${\bm \Phi}_{\bf qq}^{\rm T}{\bf V}$ of 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
lb	the vector multiplied by ${\bm \Phi}_{\bf qq}^{\rm T}$

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subroutine jacobT_jacob::jjtlb_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,
		REAL(8),dimension(nrt),intent(in)	lb
	)

${\bm \Phi}_{\bf qq}^{\rm T}{\bf V}$ of 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.
lb	the vector multiplied by ${\bm \Phi}_{\bf qq}^{\rm T}$

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subroutine jacobT_jacob::jjtlb_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,
		REAL(8),dimension(nrt),intent(in)	lb
	)

${\bm \Phi}_{\bf qq}^{\rm T}{\bf V}$ of 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.
lb	the vector multiplied by ${\bm \Phi}_{\bf qq}^{\rm T}$

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subroutine jacobT_jacob::jjtlb_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,
		REAL(8),dimension(nrt),intent(in)	lb
	)

${\bm \Phi}_{\bf qq}^{\rm T}{\bf V}$ 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
lb	the vector multiplied by ${\bm \Phi}_{\bf qq}^{\rm T}$

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subroutine jacobT_jacob::jjtlb_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,
		REAL(8),dimension(nrt),intent(in)	lb
	)

${\bm \Phi}_{\bf qq}^{\rm T}{\bf V}$ 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
lb	the vector multiplied by ${\bm \Phi}_{\bf qq}^{\rm T}$

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subroutine jacobT_jacob::jjtlb_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,
		REAL(8),dimension(nrt),intent(in)	lb
	)

${\bm \Phi}_{\bf qq}^{\rm T}{\bf V}$ 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
lb	the vector multiplied by ${\bm \Phi}_{\bf qq}^{\rm T}$

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subroutine jacobT_jacob::jjtlb_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,
		REAL(8),dimension(nrt),intent(in)	lb
	)

${\bm \Phi}_{\bf qq}^{\rm T}{\bf V}$ 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
lb	the vector multiplied by ${\bm \Phi}_{\bf qq}^{\rm T}$

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subroutine jacobT_jacob::jjtlb_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,
		REAL(8),dimension(nrt),intent(in)	lb
	)

${\bm \Phi}_{\bf qq}^{\rm T}{\bf V}$ 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
lb	the vector multiplied by ${\bm \Phi}_{\bf qq}^{\rm T}$

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subroutine jacobT_jacob::jjtlb_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,
		REAL(8),dimension(nrt),intent(in)	lb
	)

${\bm \Phi}_{\bf qq}^{\rm T}{\bf V}$ 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
lb	the vector multiplied by ${\bm \Phi}_{\bf qq}^{\rm T}$

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subroutine jacobT_jacob::jjtlb_UnitEulParam	(	integer,intent(in)	ir,
		integer,dimension(4),intent(in)	iEul,
		REAL(8),dimension(nrt),intent(in)	lb
	)

CCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCC ${\bm \Phi}_{\bf qq}^{\rm T}{\bf V}$ of unitary Euler parameters.

Parameters:

ir	index of the constraint
iEul	indexes of the Euler parameters
lb	the vector multiplied by ${\bm \Phi}_{\bf qq}^{\rm T}$

subroutine jacobT_jacob::resetFiqqtlb ( )

Variable Documentation

REAL(8),dimension(:,:),allocatable jacobT_jacob::Fiqqtlb

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

Functions/Subroutines

Variables

Detailed Description

Function/Subroutine Documentation

Variable Documentation