Subroutines for joint constraint calculation calculations. More...

Modules
module	masterslavejointroutinesmodule
	Module with subroutines for joint constraint calculation calculations.

Functions/Subroutines
subroutine, public	masterslavejointroutinesmodule::incjointsvar (joints, inc, motions, useTotalInc)
	Increments all joint DOFs in the model. More...

subroutine, public	masterslavejointroutinesmodule::updatejoints (joints, motions, ierr)
	Updates joint triad positions and associated constraint variables. More...

subroutine	masterslavejointroutinesmodule::setspringstatus (jDOFs, slider)
	Sets the status of contact springs past ends and outside the active radius region for Cam joints. More...

subroutine, public	masterslavejointroutinesmodule::movejointinposition (joint, ierr)
	Updates dependent triad position and the dependent variables. More...

subroutine	setlineardependencies (jointTriad, depTriad)
	Updates the constraint equation coeffecicients of the joint. More...

subroutine, public	masterslavejointroutinesmodule::updatedependencies (joint, motions)
	Updatea the linear dependencies in a joint. More...

subroutine, public	masterslavejointroutinesmodule::initiatejointvars (joint, ierr)
	Initializes the joint variables (velocities and accelerations). More...

subroutine	warningoverride (triadId, var)
	Convenience routine for printing a warning message. More...

Variables
real(dp), parameter	masterslavejointroutinesmodule::epszero_p = 1.0e-15_dp
	Zero tolerance. More...

Detailed Description

Subroutines for joint constraint calculation calculations.

Function/Subroutine Documentation

subroutine movejointinposition::setlineardependencies	(	type(jmtriadtype), intent(inout)	jointTriad,
		type(triadtype), intent(in)	depTriad
	)

Updates the constraint equation coeffecicients of the joint.

The linear dependency matrices in Global to Global system are:

    | Us | = | I : Spin(e) || Um | = | TT TR | | Um |
    | Rs |   | 0 :   I     || Rm |   | RT RR | | Rm |

Only the TR matrix needs to be established explicitly. TT and RR are always unity whereas RT always is zero.

subroutine initiatejointvars::warningoverride	(	type(idtype), intent(in)	triadId,
		character(len=*), intent(in)	var
	)

Convenience routine for printing a warning message.