MBSVT: jacob_djacobdt_qp Module Reference

MBSVT 1.0

Module of $(\dot{\bm \Phi}_{\bf q}{\dot{\bf q}})_{\bf q}$ . It's NOT a user module, it's used by the solver. More...

Functions/Subroutines
subroutine	jacob_djacobdt_qp_Setup
subroutine	deallocFiqpqpq
subroutine	jd_dot1 (ir, iEul1, iEul2, u, v)
	$\dot{\bm \Phi}{\bf q}{\dot{\bf q}}$ of a dot-1 constraint.
subroutine	jd_revolute (ir, irg1, irg2, iEul1, iEul2, pt1, pt2, u1, v1, vec2)
	$(\dot{\bf \Phi}{\bf q}\dot{\bf q}){\bf q}$ of a revolute joint between two bodies
subroutine	jd_transGB (ir, irg2, iEul2, pt1, pt2, vec1y, vec1x, vec2x, vec2z)
	$(\dot{\bf \Phi}{\bf q}\dot{\bf q}){\bf q}$ of a translational joint of a body attached to the ground
subroutine	jd_trans (ir, irg1, irg2, iEul1, iEul2, pt1, pt2, vec1y, vec1x, vec2x, vec2z)
	$(\dot{\bf \Phi}{\bf q}\dot{\bf q}){\bf q}$ of a translational joint between two bodies
subroutine	jd_Drive_distGB (ir, irg2, iEul2, pt1, pt2_loc, i_MOTOR)
	$\dot{\bm \Phi}{\bf q}\dot{\bf q}$ for a distance between a point in the ground and a point of one body.
subroutine	jd_Drive_dist (ir, irg1, irg2, iEul1, iEul2, pt1_loc, pt2_loc, i_MOTOR)
	$\dot{\bm \Phi}{\bf q}\dot{\bf q}$ for a distance between two points of two bodies.
Variables
REAL(8), dimension(:,:), allocatable	PROTECTED
REAL(8), dimension(:,:), allocatable	Fiqpqpq

Detailed Description

Module of $(\dot{\bm \Phi}_{\bf q}{\dot{\bf q}})_{\bf q}$ . It's NOT a user module, it's used by the solver.

Function/Subroutine Documentation

subroutine jacob_djacobdt_qp::deallocFiqpqpq ( )

subroutine jacob_djacobdt_qp::jacob_djacobdt_qp_Setup ( )

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subroutine jacob_djacobdt_qp::jd_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
	)

$\dot{\bm \Phi}{\bf q}{\dot{\bf q}}$ 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 jacob_djacobdt_qp::jd_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
	)

$\dot{\bm \Phi}{\bf q}\dot{\bf q}$ 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_djacobdt_qp::jd_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
	)

$\dot{\bm \Phi}{\bf q}\dot{\bf q}$ 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_djacobdt_qp::jd_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
	)

$(\dot{\bf \Phi}{\bf q}\dot{\bf q}){\bf q}$ 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_djacobdt_qp::jd_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
	)

$(\dot{\bf \Phi}{\bf q}\dot{\bf q}){\bf q}$ 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_djacobdt_qp::jd_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
	)

$(\dot{\bf \Phi}{\bf q}\dot{\bf q}){\bf q}$ 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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Variable Documentation

REAL(8),dimension(:,:),allocatable jacob_djacobdt_qp::Fiqpqpq

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