Modules | |
| module | SOLIDS |
Solids module that adds and manages the bodies of the system. | |
Functions/Subroutines | |
| subroutine, public | SOLIDS::ADDbody (body, rg0, eu0) |
| Adds a body to the model. | |
| subroutine, public | SOLIDS::ADDmassgeom (body, mass, rg_loc, v_Ig) |
| Subroutine to add mass, center of masses and inertia tensor with respect to the center of mass to a body. | |
| REAL(8), public | SOLIDS::MatTrans (body) |
Function to calculate the transformation matrix of a body ![$ {\bf A}^* =\left[\begin{array}{c c} {\bf R} & {\bf p}_0 \\ {\bf 0} & 1 \end{array}\right] $](form_70.png) . | |
| REAL(8), dimension(3), public | SOLIDS::r (body, pt_loc) |
| Function to evaluate the global position of a point belonging to a body. | |
| REAL(8), dimension(3), public | SOLIDS::rp (body, pt_loc) |
| Function to evaluate the global velocity of a point belonging to a body. | |
| REAL(8), dimension(3), public | SOLIDS::v (body, vc_loc) |
| Function to evaluate the global coordinates of a vector belonging to a body. | |
| REAL(8), dimension(3), public | SOLIDS::vp (body, vc_loc) |
| Function to evaluate the global velocity of a vector belonging to a body. | |
| REAL(8), dimension(3), public | SOLIDS::rloc (body, pt_glob) |
| Function to evaluate the local position of a global point as belonging to a body. | |
| REAL(8), dimension(3) | SOLIDS::vloc (body, vc_glob) |
| Function to evaluate the local coordinates of a global vector as belonging to a body. | |
| REAL(8), dimension(3, 7), public | SOLIDS::drdq (body, pt_loc) |
| Function to evaluate the derivative of the position of a point belonging to a body wrt to the generalized coordinates of the body. | |
| REAL(8), dimension(3, 7), public | SOLIDS::dvdq (body, vc_loc) |
| Function to evaluate the derivative of the position of a vector belonging to a body wrt to the generalized coordinates of the body. | |
| REAL(8), dimension(3, 7), public | SOLIDS::drpdq (body, pt_loc) |
| Function to evaluate the derivative of the velocity of a point belonging to a body wrt to the generalized coordinates of the body. | |
| REAL(8), dimension(3, 7), public | SOLIDS::dvpdq (body, vc_loc) |
| Function to evaluate the derivative of the velocity of a vector belonging to a body wrt to the generalized coordinates of the body. | |
| REAL(8), dimension(3, 7), public | SOLIDS::drpdqp (body, pt_loc) |
| Function to evaluate the derivative of the velocity of a point belonging to a body wrt to the generalized coordinates of the body. | |
| REAL(8), dimension(3, 7), public | SOLIDS::dvpdqp (body, vc_loc) |
| Function to evaluate the derivative of the velocity of a point belonging to a body wrt to the generalized coordinates of the body. | |
Variables | |
| TYPE(SOLID), dimension(:), allocatable, public | SOLIDS::PROTECTED |
| TYPE(SOLID), dimension(:), allocatable, public | SOLIDS::SOLIDlist |
| INTEGER, parameter, public | SOLIDS::ground = 0 |
| INTEGER, public | SOLIDS::nSOLID = 0 |
