Module with data types representing joint objects. More...

Data Types
type	jmtriadtype
	Data type representing a master triad in a joint. More...

type	slavedoftype
	Data type representing a slave DOF in a joint. More...

type	jointdoftype
	Data type representing a joint DOF. More...

type	slidertype
	Data type representing slide DOF in a multi-master joint. More...

type	masterslavejointtype
	Data type representing a master-slave-based joint. More...

type	higherpairtype
	Data type representing a higher pairs object. More...

interface	getptrtoid
	Returns pointer to object with specified ID. More...

interface	getptrtoowner
	Returns pointer to owner of specified object. More...

interface	writeobject
	Standard routine for writing an object to file. More...

interface	deallocatejoints
	Deallocates an array of objects. More...

interface	updateatconvergence
	Updates the state variables pertaining to previous time step. More...

interface	restorefromlaststep
	Restores the state variables from the last converged time step. More...

Functions/Subroutines
type(masterslavejointtype) function, pointer, private	getptrtoidjoint (array, id, index, jointType)
	Return pointer to (first) joint with specified id. More...

type(masterslavejointtype) function, pointer, private	getptrtojointwithspring (array, spring)
	Returns pointer to joint connected to given spring. More...

type(masterslavejointtype) function, pointer, private	getptrtojointwithdamper (array, damper)
	Return pointer to joint connected to given damper. More...

subroutine, private	writejoint (joint, io, complexity)
	Standard routine for writing an object to file. More...

subroutine	nullifyjoint (joint)
	Initializes a joint object. More...

subroutine	nullifyjointdof (jointDof)
	Initializes a joint DOF object. More...

subroutine	deallocatejoint (joint)
	Deallocates a joint object. More...

subroutine	deallocatemasterslavejoints (joints)
	Deallocates an array of joint objects. More...

subroutine	deallocatehigherpairs (higherPairs)
	Deallocates an array of higher pairs objects. More...

subroutine	setjointsvelacc (joints, velGlobal, accGlobal)
	Sets velocity/acceleration for all joint DOFs from system vectors. More...

subroutine	getjointsvelacc (joints, velGlobal, accGlobal)
	Fills system velocity/acceleration vectors with joint DOF values. More...

real(dp) function	getjointvar (joint, dofInd, type)
	Returns the current value of a joint variable. More...

character(len=15+lid_p) function	getjointid (joint)
	Returns the full id (type name, user id and description) of a joint. More...

recursive integer function	getnumberofmasterdofs (joint)
	Returns the total number of independent DOFs of a joint. More...

recursive logical function	haszerovelacc (joint)
	Checks if all joint DOFs have zero velocities and accelerations. More...

real(dp) function, dimension(6)	transvslavetojoint (joint, u)
	Transforms a vector to the joint DOF directions. More...

subroutine, private	updatepreviousjointvalues (joint)
	Updates the state variables pertaining to the previous time step. More...

subroutine, private	restorepreviousjointvalues (joint)
	Restores the state variables from the last converged time step. More...

Variables
character(len=15), dimension(3), parameter	rotparamtypes_p = (/ 'FOLLOWER_AXIS ', 'ORTHOGONAL_AXIS', 'ROT_AXIS ' /)
	Rotation formulation names. More...

character(len=15), dimension(8), parameter	jointtypename_p = (/ 'Revolute joint ', 'Ball joint ', 'Rigid joint ', 'Free joint ', 'Prismatic joint', 'Cylindric joint', 'Cam joint ', 'Axial joint ' /)
	Joint type names. More...

Detailed Description

Module with data types representing joint objects.

The module also contains subroutines for accessing the joint data.

Function/Subroutine Documentation

◆ deallocatehigherpairs()

subroutine masterslavejointtypemodule::deallocatehigherpairs ( type(higherpairtype), dimension(:), pointer higherPairs )

Deallocates an array of higher pairs objects.

Parameters

higherPairs The masterslavejointtypemodule::higherpairttype objects to deallocate

Author: Knut Morten Okstad

Date: 23 Jan 2017

◆ deallocatejoint()

subroutine masterslavejointtypemodule::deallocatejoint ( type(masterslavejointtype), intent(inout) joint )

Deallocates a joint object.

Parameters

joint The masterslavejointtypemodule::masterslavejointtype object to deallocate

Author: Knut Morten Okstad

Date: 23 Jan 2017

◆ deallocatemasterslavejoints()

subroutine masterslavejointtypemodule::deallocatemasterslavejoints ( type(masterslavejointtype), dimension(:), pointer joints )

Deallocates an array of joint objects.

Parameters

joints The masterslavejointtypemodule::masterslavejointtype objects to deallocate

Author: Knut Morten Okstad

Date: 23 Jan 2017

◆ getjointid()

character(len=15+lid_p) function masterslavejointtypemodule::getjointid ( type(masterslavejointtype), intent(in) joint )

Returns the full id (type name, user id and description) of a joint.

Parameters

[in] joint The joint to get the id for

Author: Knut Morten Okstad

Date: 27 Oct 2005

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◆ getjointsvelacc()

subroutine masterslavejointtypemodule::getjointsvelacc	(	type(masterslavejointtype), dimension(:), intent(in)	joints,
		real(dp), dimension(:), intent(out)	velGlobal,
		real(dp), dimension(:), intent(out)	accGlobal
	)

Fills system velocity/acceleration vectors with joint DOF values.

Parameters

[in]	joints	All joints in the model
[out]	velGlobal	Global velocity vector
[out]	accGlobal	Global acceleration vector

Author: Knut Morten Okstad

Date: 18 Oct 2002

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◆ getjointvar()

real(dp) function masterslavejointtypemodule::getjointvar	(	type(masterslavejointtype), intent(in)	joint,
		integer, intent(in)	dofInd,
		integer, intent(in)	type
	)

Returns the current value of a joint variable.

Parameters

[in]	joint	The joint to get the id for
[in]	dofInd	Joint dof index
[in]	type	Type of the variable to return value for (1: displacement, 2: velocity, 3: acceleratuion)

Author: Knut Morten Okstad

Date: 8 Apr 2005

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◆ getnumberofmasterdofs()

recursive integer function masterslavejointtypemodule::getnumberofmasterdofs ( type(masterslavejointtype), intent(in) joint )

Returns the total number of independent DOFs of a joint.

Parameters

[in] joint The joint to get number of independent DOFs for

This is a recursive function that works only after the joint chaining has been resolved.

Author: Knut Morten Okstad

Date: 1 Nov 2005

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◆ getptrtoidjoint()

type(masterslavejointtype) function, pointer, private masterslavejointtypemodule::getptrtoidjoint	(	type(masterslavejointtype), dimension(:), intent(in), target	array,
		integer, intent(in)	id,
		integer, intent(out), optional	index,
		integer, intent(in), optional	jointType
	)

private

Return pointer to (first) joint with specified id.

Parameters

[in]	array	Array of masterslavejointtypemodule::masterslavejointtype objects to search within
[in]	id	Base ID of the object to search for
[out]	index	The array index of the found object
[in]	jointType	Specified joint type to search for

If the joint is not found, NULL is returned. Optionally, the userID for a specified jointType is searched for (default is to search for baseID and any joint type).

Author: Bjorn Haugen / Knut Morten Okstad

Date: 17 Dec 2009

◆ getptrtojointwithdamper()

type(masterslavejointtype) function, pointer, private masterslavejointtypemodule::getptrtojointwithdamper	(	type(masterslavejointtype), dimension(:), intent(in), target	array,
		type(damperbasetype), intent(in), target	damper
	)

private

Return pointer to joint connected to given damper.

Parameters

[in]	array	Array of masterslavejointtypemodule::masterslavejointtype objects to search within
[in]	damper	The damper base object to search for within the joints

If no joint has the given damper, NULL is returned.

Author: Knut Morten Okstad

Date: 1 Jul 2002

◆ getptrtojointwithspring()

type(masterslavejointtype) function, pointer, private masterslavejointtypemodule::getptrtojointwithspring	(	type(masterslavejointtype), dimension(:), intent(in), target	array,
		type(springbasetype), intent(in), target	spring
	)

private

Returns pointer to joint connected to given spring.

Parameters

[in]	array	Array of masterslavejointtypemodule::masterslavejointtype objects to search within
[in]	spring	The spring base object to search for within the joints

If no joint has the given spring, NULL is returned.

Author: Knut Morten Okstad

Date: 1 Jul 2002

◆ haszerovelacc()

recursive logical function masterslavejointtypemodule::haszerovelacc ( type(masterslavejointtype), intent(in) joint )

Checks if all joint DOFs have zero velocities and accelerations.

Parameters

[in] joint The joint to check for velocity/accelerations

Returns: .true. if all joint DOFs have zero velocity and acceleration, otherwise .false.

The function recursively checks all master- and slave DOFs in the joint and returns as soon a non-zero velocity or acceleration is found. The function works only after the joint chaining has been resolved.

Author: Knut Morten Okstad

Date: 7 Nov 2005

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◆ nullifyjoint()

subroutine masterslavejointtypemodule::nullifyjoint ( type(masterslavejointtype), intent(out) joint )

Initializes a joint object.

Parameters

[out] joint The masterslavejointtypemodule::masterslavejointtype object to initialize

Author: Knut Morten Okstad

Date: 24 Jun 2002

◆ nullifyjointdof()

subroutine masterslavejointtypemodule::nullifyjointdof ( type(jointdoftype), intent(out) jointDof )

Initializes a joint DOF object.

Parameters

[out] jointDof The masterslavejointtypemodule::jointdoftype object to initialize

Author: Knut Morten Okstad

Date: 4 Oct 2005

◆ restorepreviousjointvalues()

subroutine, private masterslavejointtypemodule::restorepreviousjointvalues ( type(masterslavejointtype), intent(inout) joint )

private

Restores the state variables from the last converged time step.

Parameters

joint The joint to restore the state variables for

This subroutine is invoked when doing iteration cut-back.

Author: Knut Morten Okstad

Date: 2 Nov 2008

◆ setjointsvelacc()

subroutine masterslavejointtypemodule::setjointsvelacc	(	type(masterslavejointtype), dimension(:), intent(inout)	joints,
		real(dp), dimension(:), intent(in)	velGlobal,
		real(dp), dimension(:), intent(in)	accGlobal
	)

Sets velocity/acceleration for all joint DOFs from system vectors.

Parameters

	joints	All joints in the model
[in]	velGlobal	Global velocity vector
[in]	accGlobal	Global acceleration vector

Author: Knut Morten Okstad

Date: 20 Jun 2002

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◆ transvslavetojoint()

real(dp) function, dimension(6) masterslavejointtypemodule::transvslavetojoint	(	type(masterslavejointtype), intent(in)	joint,
		real(dp), dimension(:), intent(in)	u
	)

Transforms a vector to the joint DOF directions.

Parameters

[in]	joint	The joint to perform the transformation for
[in]	u	The vector to be transformed

Returns: The transformed vector

The vector u is transformed from the global directions in slave triad to the joint directions, accounting for possible eccentricity between the joint position and the slave triad position.

Author: Knut Morten Okstad

Date: 23 May 2008

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◆ updatepreviousjointvalues()

subroutine, private masterslavejointtypemodule::updatepreviousjointvalues ( type(masterslavejointtype), intent(inout) joint )

private

Updates the state variables pertaining to the previous time step.

Parameters

joint The joint to update the state variables for

This subroutine is invoked once for each joint after convergence has been achieved.

Author: Knut Morten Okstad

Date: 28 Oct 2008

◆ writejoint()

subroutine, private masterslavejointtypemodule::writejoint	(	type(masterslavejointtype), intent(in)	joint,
		integer, intent(in)	io,
		integer, intent(in), optional	complexity
	)

private

Standard routine for writing an object to file.

Parameters

[in]	joint	The masterslavejointtypemodule::masterslavejointtype object to write
[in]	io	File unit number to write to
[in]	complexity	If present, the value indicates the amount of print

Author: Karl Erik Thoresen

Date: 27 Sep 1998

Variable Documentation

◆ jointtypename_p

character(len=15), dimension(8), parameter masterslavejointtypemodule::jointtypename_p = (/ 'Revolute joint ', 'Ball joint ', 'Rigid joint ', 'Free joint ', 'Prismatic joint', 'Cylindric joint', 'Cam joint ', 'Axial joint ' /)

Joint type names.

◆ rotparamtypes_p

character(len=15), dimension(3), parameter masterslavejointtypemodule::rotparamtypes_p = (/ 'FOLLOWER_AXIS ', 'ORTHOGONAL_AXIS', 'ROT_AXIS ' /)

Rotation formulation names.

Data Types

Functions/Subroutines

Variables

Detailed Description

Function/Subroutine Documentation

◆ deallocatehigherpairs()

◆ deallocatejoint()

◆ deallocatemasterslavejoints()

◆ getjointid()

◆ getjointsvelacc()

◆ getjointvar()

◆ getnumberofmasterdofs()

◆ getptrtoidjoint()

◆ getptrtojointwithdamper()

◆ getptrtojointwithspring()

◆ haszerovelacc()

◆ nullifyjoint()

◆ nullifyjointdof()

◆ restorepreviousjointvalues()

◆ setjointsvelacc()

◆ transvslavetojoint()

◆ updatepreviousjointvalues()

◆ writejoint()

Variable Documentation

◆ jointtypename_p

◆ rotparamtypes_p