externalmbs Module Reference

Data Types
interface	f_add_rAux
interface	f_add_reac
interface	f_comp_vAux_Iaux
interface	f_comp_vAux_Ireac
interface	f_compute_dof
interface	f_compute_free_vlocy
interface	f_finalize
interface	f_get_vAux
interface	f_get_vBeg
interface	f_get_vFree
interface	f_increment
interface	f_initialize
interface	f_nullify_rAux
interface	f_nullify_reac
interface	f_nullify_vAux
interface	f_nullify_vFree
interface	f_update_dof
interface	f_update_nodes_2D
interface	f_update_nodes_3D

Functions/Subroutines
subroutine, public	initialize ()
	Initialize all mbs. More...
subroutine, public	increment (tbegin)
	Increment time step and save the current configuration of all mbs. More...
subroutine, public	compute_free_vlocy (h, theta)
	Compute the free velocity of all mbs. More...
subroutine, public	update_nodes_3d (i_mbs, coorTT, localFrameTT, storage)
	Update the kinematics of 3D nodes belonging to the specified mbs. More...
subroutine, public	update_nodes_2d (i_mbs, coorTT, storage)
	Update the kinematics of 2D nodes belonging to the specified mbs. More...
subroutine, public	nullify_reac (i_mbs, storage)
	Reset the specified reaction to zero for the specified mbs. More...
subroutine, public	add_reac_3d (i_mbs, i_node, reac, storage, LFTT)
	Add the given node reaction contribution to the reaction of the global mbs in 3D simulation. More...
subroutine, public	add_reac_2d (i_mbs, i_node, reac, storage)
	Add the given node reaction contribution to the reaction of the global mbs in 2D simulation. More...
subroutine, public	nullify_vlocy (i_mbs, storage)
	Reset the specified velocity to zero for the specified mbs. More...
subroutine, public	comp_vlocy (i_mbs, storage)
	Compute the generalized velocities. More...
subroutine, public	get_vlocy_3d (i_mbs, i_node, vlocy, storage, LFTT)
	Compute and set the velocity of a node in 3D simulation. More...
subroutine, public	get_vlocy_2d (i_mbs, i_node, vlocy, storage)
	Compute and set the velocity of a node in 2D simulation. More...
subroutine, public	compute_dof (h, theta)
	Compute the new value of the generalized velocity and position for all mbs. More...
subroutine, public	update_dof ()
	Finalize time step: update vBeg field for all mbs. More...
subroutine, public	finalize ()
	Save final configuration, free the memory and finalize the process. More...

Function/Subroutine Documentation

add_reac_2d()

subroutine, public externalmbs::add_reac_2d	(	integer(kind=4), intent(in)	i_mbs,
		integer(kind=4), intent(in)	i_node,
		real(kind=8), dimension(3)	reac,
		integer(kind=4), intent(in)	storage
	)

Add the given node reaction contribution to the reaction of the global mbs in 2D simulation.

Parameters

[in]	i_mbs	the index of the mbs for which the reaction must be applied
[in]	i_node	the index of the node on which the reaction is applied
[in]	reac	reaction to add with the forces and torque expressed in global frame
[in]	storage	flag to communicate the state of the computation

add_reac_3d()

subroutine, public externalmbs::add_reac_3d	(	integer(kind=4), intent(in)	i_mbs,
		integer(kind=4), intent(in)	i_node,
		real(kind=8), dimension(6)	reac,
		integer(kind=4), intent(in)	storage,
		real(kind=8), dimension(3,3)	LFTT
	)

Add the given node reaction contribution to the reaction of the global mbs in 3D simulation.

Parameters

[in]	i_mbs	the index of the mbs for which the reaction must be applied
[in]	i_node	the index of the node on which the reaction is applied
[in]	reac	reaction to add with the forces expressed in global frame and torque in body frame
[in]	storage	Flag to communicate the state of the computation
[in]	LFTT	rotation matrix to pass from global frame to body frame

comp_vlocy()

subroutine, public externalmbs::comp_vlocy	(	integer(kind=4), intent(in)	i_mbs,
		integer(kind=4), intent(in)	storage
	)

Compute the generalized velocities.

Parameters

[in]	i_mbs	the index of the mbs for which the generalized velocities are computed. First Mbs is index 1.
[in]	storage	Flag to communicate the state of the computation.

compute_dof()

subroutine, public externalmbs::compute_dof	(	real(kind=8), intent(in)	h,
		real(kind=8), intent(in)	theta
	)

Compute the new value of the generalized velocity and position for all mbs.

Parameters

[in]	h	The time step size
[in]	theta	Parameter for the -integration scheme

compute_free_vlocy()

subroutine, public externalmbs::compute_free_vlocy	(	real(kind=8), intent(in)	h,
		real(kind=8), intent(in)	theta
	)

Compute the free velocity of all mbs.

Parameters

[in]	h	The time step size
[in]	theta	Parameter for the -integration scheme

finalize()

subroutine, public externalmbs::finalize

Save final configuration, free the memory and finalize the process.

get_vlocy_2d()

subroutine, public externalmbs::get_vlocy_2d	(	integer(kind=4), intent(in)	i_mbs,
		integer(kind=4), intent(in)	i_node,
		real(kind=8), dimension(3)	vlocy,
		integer(kind=4), intent(in)	storage
	)

Compute and set the velocity of a node in 2D simulation.

Parameters

[in]	i_mbs	The index of the mbs for which the velocity is get. First Mbs is index 1.
[in]	i_node	The index of the node for which the velocity is computed. First node is index 1.
[out]	vlocy	Velocity expressed in global frame.
[in]	storage	Flag to communicate the state of the computation.

get_vlocy_3d()

subroutine, public externalmbs::get_vlocy_3d	(	integer(kind=4), intent(in)	i_mbs,
		integer(kind=4), intent(in)	i_node,
		real(kind=8), dimension(6)	vlocy,
		integer(kind=4), intent(in)	storage,
		real(kind=8), dimension(3,3)	LFTT
	)

Compute and set the velocity of a node in 3D simulation.

Parameters

[in]	i_mbs	The index of the mbs for which the velocity is get. First Mbs is index 1.
[in]	i_node	The index of the node for which the velocity is computed. First node is index 1.
[out]	vlocy	Velocity with linear velocities expressed in global frame and angular in body frame.
[in]	storage	Flag to communicate the state of the computation.
[out]	LFTT	rotation matrix to pass from global frame to body frame

increment()

subroutine, public externalmbs::increment

(

real(kind=8), intent(in)

tbegin

)

Increment time step and save the current configuration of all mbs.

Parameters

[in]

tbegin

value of simulation time at the begining of the current time step

initialize()

subroutine, public externalmbs::initialize

Initialize all mbs.

nullify_reac()

subroutine, public externalmbs::nullify_reac	(	integer(kind=4), intent(in)	i_mbs,
		integer(kind=4), intent(in)	storage
	)

Reset the specified reaction to zero for the specified mbs.

Parameters

[in]	i_mbs	the index of the mbs for which the reaction is modified. First Mbs is index 1.
[in]	storage	Flag to communicate the reaction to reset.

nullify_vlocy()

subroutine, public externalmbs::nullify_vlocy	(	integer(kind=4), intent(in)	i_mbs,
		integer(kind=4), intent(in)	storage
	)

Reset the specified velocity to zero for the specified mbs.

Parameters

[in]	i_mbs	the index of the mbs for which the velocity is modified. First Mbs is index 1.
[in]	storage	Flag to communicate the velocity to reset.

update_dof()

subroutine, public externalmbs::update_dof

Finalize time step: update vBeg field for all mbs.

update_nodes_2d()

subroutine, public externalmbs::update_nodes_2d	(	integer(kind=4), intent(in)	i_mbs,
		real(kind=8), dimension(:,:), pointer	coorTT,
		integer(kind=4), intent(in)	storage
	)

Update the kinematics of 2D nodes belonging to the specified mbs.

Parameters

[in]	i_mbs	The index of the mbs for which the reaction is modified. First Mbs is index 1.
[out]	coorTT	The array in which the position of nodes must be copied.
[in]	storage	Flag to communicate the computation status.

update_nodes_3d()

subroutine, public externalmbs::update_nodes_3d	(	integer(kind=4), intent(in)	i_mbs,
		real(kind=8), dimension(:,:), pointer	coorTT,
		real(kind=8), dimension(:,:), pointer	localFrameTT,
		integer(kind=4), intent(in)	storage
	)

Update the kinematics of 3D nodes belonging to the specified mbs.

Parameters

[in]	i_mbs	The index of the mbs for which the reaction is modified. First Mbs is index 1.
[out]	coorTT	The array in which the position of nodes must be copied.
[out]	localFrameTT	The array in which the rotation matrix of nodes must be copied.
[in]	storage	Flag to communicate the computation status.