Implement of Cosserat 6Dofs Beam & Tutorial #109
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…e application of the Cosserat model in simulating a non-extending cable. In this case, the cable is utilized to control the movement of a deformable finger.
…e application of the Cosserat model in simulating a non-extending cable. In this case, the cable is utilized to control the movement of a deformable finger.
…it easier to read and use different types of parameters in the scene.
…now seamlessly attached to the central rod of the robot using the RigidMapping. The scene has been updated to utilize the newly implemented python class for cosserat beams, , which takes advantage of dataclasses for improved data handling and organization.
merge master CMakeLists into actuator branch
…at into actuatorBranch
…gnificant stride towards a more sophisticated version of the code. This advancement lays the groundwork for defining beams with variable strain dimensions, ranging from 2 to 6, in future iterations of the code.
[forcefield] add template vec6types to BeamHookeLawForceField
Put in this fwd.h file all forward declaration of c++ types. In our case this is where we will declare the SE3 from Matrix4.
Because msg_info already contains a test on wether we should print a message and this is connected by the printLog data field. More generally "debug" datafield is questionnable.
The sofa::helper::getReadAccessor function is to be used on type free expression this way: auto a = getReadAccessor(m_data);
… from MultiMapping
…should't be breaking)
Among other things: - instead of re-defining a new type in each class, re-using the one defined in its parent. - remove useless headers - remove type declaration that does not seems to be needed.
Cosserat extension refactoring 2
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This pull request introduces support for Cosserat beam modeling and provides a tutorial for getting started.
Changes:
New Cosserat prefab: This prefab simplifies the creation of Cosserat beams within your scenes.
Cosserat Scene Building Tutorial: A new tutorial guides you through building Cosserat scenes from scratch.
6 DOF Cosserat Beam Modeling: Enables modeling of Cosserat beams using all six degrees of freedom (local parameters including torsion, flexions X2, extension, and shear X2).