| Type | Intent | Optional | Attributes | Name | ||
|---|---|---|---|---|---|---|
| type(variational_state), | intent(in) | :: | state |
The state at which to evaluate the Jacobian. |
||
| real(kind=real64), | intent(out), | dimension(:,:) | :: | jacobian |
The nconstraint-by-(6*nbody) Jacobian. Columns are ordered [dx, quaternion-vector variation] for each body. |
|
| class(*), | intent(inout), | optional | :: | args |
Optional user-supplied data. |
Computes the reduced maximal-coordinate constraint Jacobian. Translational columns are ordinary position derivatives. Rotational columns use the local quaternion variation