Module of primitive constraints. It's NOT a user module, it's used by the solver. More...

Functions/Subroutines
subroutine	restric_Setup
subroutine	deallocfi
subroutine	r_UnitEulParam (ir, iEul)
	Primitive constraint of unitary Euler parameters assume ${\bf p}$ is the Euler parameter.the constraint equation is : ${\bf p}^T{\bf p}-1$ .
subroutine	r_dot1GB (ir, iEul2, u, v)
	Primitive dot-1 constraint of a body attached on the ground.
subroutine	r_dot1 (ir, iEul1, iEul2, u, v)
	Primitive dot-1 constraint assume $\bf p_1$ and $\bf p_2$ are the Euler parameter of body 1 and body 2 and $\bf u$ and $\bf v$ are two vectors attached on body 1 and body 2 in the body reference frame, the constraint equation is : $A({\bf p_1}){\bf u}^{T}A({\bf p_2}){\bf v}$ .
subroutine	r_sphericalGB (ir, irg2, iEul2, pt1, pt2)
	Primitive constraints of a spherical joint of a body attached to the ground The three constraint equations are : ${\bf r}_2+{\bf A}_2{\bf s}_2^{'P}-{\bf s}_1^{P}$ .
subroutine	r_spherical (ir, irg1, irg2, iEul1, iEul2, pt1, pt2)
	Primitive constraints of a spherical joint between two bodies The three constraint equations are : ${\bf r}_2+{\bf A}_2{\bf s}_2^{'P}-{\bf r}_1-{\bf A}_1{\bf s}_1^{'P}$ .
subroutine	r_revoluteGB (ir, irg2, iEul2, pt1, pt2, u1, v1, vec2)
	Primitive constraints of a revolute joint of a body attached to the ground The first three constraint equations are : ${\bf r}_2+{\bf A}_2{\bf s}_2^{'P}-{\bf s}_1^{P}$ The fouth constraint equation is: ${\bf f}_1^T{\bf A}_2{\bf h}_2$ The fifth constraint equation is: ${\bf g}_1^T{\bf A}_2{\bf h}_2$ .
subroutine	r_revolute (ir, irg1, irg2, iEul1, iEul2, pt1, pt2, u1, v1, vec2)
	Primitive constraints of a revolute joint between two bodies The three constraint equations are : ${\bf r}_2+{\bf A}_2{\bf s}_2^{'P}-{\bf r}_1-{\bf A}_1{\bf s}_1^{'P}$ The fouth constraint equation is: $({\bf A}_1{\bf f}_1)^T{\bf A}_2{\bf h}_2$ The fifth constraint equation is: $({\bf A}_1{\bf g}_1)^T{\bf A}_2{\bf h}_2$ .
subroutine	r_transGB (ir, irg2, iEul2, pt1, pt2, vec1y, vec1x, vec2x, vec2z)
	Primitive constraints of a translational joint of a body attached to the ground The first constraint equation is: ${\bf f}_1^T{\bf A}_2{\bf h}_2$ The second constraint equation is: ${\bf g}_1^T{\bf A}_2{\bf h}_2$ The third constraint equation is: ${\bf f}_1^T{\bf A}_2{\bf d}_{12}$ The forth constraint equation is: ${\bf g}_1^T{\bf A}_2{\bf d}_{12}$ The fifth constraint equation is: ${\bf f}_1^T{\bf A}_2{\bf f}_2$ .
subroutine	r_trans (ir, irg1, irg2, iEul1, iEul2, pt1, pt2, vec1y, vec1x, vec2x, vec2z)
	Primitive constraints of a translational joint between two bodies. The first constraint equation is: $({\bf A}_1{\bf f}_1)^T{\bf A}_2{\bf h}_2$ The second constraint equation is: $({\bf A}_1{\bf g}_1)^T{\bf A}_2{\bf h}_2$ The third constraint equation is: $({\bf A}_1{\bf f}_1)^T{\bf A}_2{\bf d}_{12}$ The forth constraint equation is: $({\bf A}_1{\bf g}_1)^T{\bf A}_2{\bf d}_{12}$ The fifth constraint equation is: $({\bf A}_1{\bf f}_1)^T{\bf A}_2{\bf f}_2$ .
subroutine	r_Drive_rgEul (ir, ind, i_MOTOR)
	Primitive driving constraints for a generalized coordinate of the system.
subroutine	r_Drive_distGB (ir, irg2, iEul2, pt1, pt2_loc, i_MOTOR)
	Primitive driving constraints for a distance between a point in the ground and a point of one body.
subroutine	r_Drive_dist (ir, irg1, irg2, iEul1, iEul2, pt1_loc, pt2_loc, i_MOTOR)
	Primitive driving constraints for a distance between two points of two bodies.
Variables
REAL(8), dimension(:), allocatable	PROTECTED
REAL(8), dimension(:), allocatable	fi

Detailed Description

Module of primitive constraints. It's NOT a user module, it's used by the solver.

Function/Subroutine Documentation

subroutine restric::deallocfi ( )

subroutine restric::r_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
	)

Primitive dot-1 constraint assume $\bf p_1$ and $\bf p_2$ are the Euler parameter of body 1 and body 2 and $\bf u$ and $\bf v$ are two vectors attached on body 1 and body 2 in the body reference frame, the constraint equation is : $A({\bf p_1}){\bf u}^{T}A({\bf p_2}){\bf v}$ .

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 restric::r_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
	)

Primitive dot-1 constraint 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 assume $\bf$ are the Euler parameter of the body the constraint equation is : ${\bf u}^{T}A({\bf p}){\bf v}$

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subroutine restric::r_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
	)

Primitive driving constraints for a distance between two points of two bodies.

Parameters:

ir	index of the constraint.
irg1,irg2	index of the center of mass of the body.
iEul1,iEul2	index of the Euler parameters of the body.
pt1_loc,pt2_loc	points in the bodies given in the bodies reference frames.
i_MOTOR	index in the vector of motors (STATE::pos) to drive the constraint.

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subroutine restric::r_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
	)

Primitive driving constraints 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 restric::r_Drive_rgEul	(	INTEGER,intent(in)	ir,
		INTEGER,intent(in)	ind,
		INTEGER,intent(in)	i_MOTOR
	)

Primitive driving constraints for a generalized coordinate of the system.

Parameters:

ir	index of the constraint
ind	index of the driven generalized coordinate.
i_MOTOR	index in the vector of motors (STATE::pos) to drive the constraint.

subroutine restric::r_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
	)

Primitive constraints of a revolute joint between two bodies The three constraint equations are : ${\bf r}_2+{\bf A}_2{\bf s}_2^{'P}-{\bf r}_1-{\bf A}_1{\bf s}_1^{'P}$ The fouth constraint equation is: $({\bf A}_1{\bf f}_1)^T{\bf A}_2{\bf h}_2$ The fifth constraint equation is: $({\bf A}_1{\bf g}_1)^T{\bf A}_2{\bf h}_2$ .

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 in the first body given in the body reference frame
pt2	point in the second body given in the body reference frame
u1,v1	perpendicular vectors in the first body given in the body reference frame
vec2	vector in the second body given in the body reference frame

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subroutine restric::r_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
	)

Primitive constraints of a revolute joint of a body attached to the ground The first three constraint equations are : ${\bf r}_2+{\bf A}_2{\bf s}_2^{'P}-{\bf s}_1^{P}$ The fouth constraint equation is: ${\bf f}_1^T{\bf A}_2{\bf h}_2$ The fifth constraint equation is: ${\bf g}_1^T{\bf A}_2{\bf h}_2$ .

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,v1	perpendicular vectors in the ground
vec2	vector in the body given in the body reference frame

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subroutine restric::r_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
	)

Primitive constraints of a spherical joint between two bodies The three constraint equations are : ${\bf r}_2+{\bf A}_2{\bf s}_2^{'P}-{\bf r}_1-{\bf A}_1{\bf s}_1^{'P}$ .

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 in the first body given in the body reference frame
pt2	point in the second body given in the body reference frame

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subroutine restric::r_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
	)

Primitive constraints of a spherical joint of a body attached to the ground The three constraint equations are : ${\bf r}_2+{\bf A}_2{\bf s}_2^{'P}-{\bf s}_1^{P}$ .

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 restric::r_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
	)

Primitive constraints of a translational joint between two bodies. The first constraint equation is: $({\bf A}_1{\bf f}_1)^T{\bf A}_2{\bf h}_2$ The second constraint equation is: $({\bf A}_1{\bf g}_1)^T{\bf A}_2{\bf h}_2$ The third constraint equation is: $({\bf A}_1{\bf f}_1)^T{\bf A}_2{\bf d}_{12}$ The forth constraint equation is: $({\bf A}_1{\bf g}_1)^T{\bf A}_2{\bf d}_{12}$ The fifth constraint equation is: $({\bf A}_1{\bf f}_1)^T{\bf A}_2{\bf f}_2$ .

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 restric::r_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
	)

Primitive constraints of a translational joint of a body attached to the ground The first constraint equation is: ${\bf f}_1^T{\bf A}_2{\bf h}_2$ The second constraint equation is: ${\bf g}_1^T{\bf A}_2{\bf h}_2$ The third constraint equation is: ${\bf f}_1^T{\bf A}_2{\bf d}_{12}$ The forth constraint equation is: ${\bf g}_1^T{\bf A}_2{\bf d}_{12}$ The fifth constraint equation is: ${\bf f}_1^T{\bf A}_2{\bf f}_2$ .

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 restric::r_UnitEulParam	(	integer,intent(in)	ir,
		integer,dimension(4),intent(in)	iEul
	)

Primitive constraint of unitary Euler parameters assume ${\bf p}$ is the Euler parameter.the constraint equation is : ${\bf p}^T{\bf p}-1$ .

Parameters:

ir	index of the constraint
iEul	indexes of the Euler parameters

subroutine restric::restric_Setup ( )

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Variable Documentation

REAL(8),dimension(:),allocatable restric::fi

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

Functions/Subroutines

Variables

Detailed Description

Function/Subroutine Documentation

Variable Documentation