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Implement of Cosserat 6Dofs Beam & Tutorial #109

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Implement of Cosserat 6Dofs Beam & Tutorial #109

wants to merge 80 commits into from

Commits on Jul 22, 2023

  1. scene an example scenes

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    adagolodjo committed Jul 22, 2023
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Commits on Jul 24, 2023

  1. add some example scenes

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Commits on Jul 29, 2023

  1. Reviving the FingerActuation scene, this illustration demonstrates th… 

    …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.
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Commits on Aug 2, 2023

  1. Reviving the FingerActuation scene, this illustration demonstrates th… 

    …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.
    @adagolodjo
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  2. Added a new class, CosseratBase, this class uses dataclasses to make … 

    …it easier to read and use different types of parameters in the scene.
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  3. Revamped ISIR robot scene with enhanced functionality. The discs are … 

    …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.
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Commits on Aug 24, 2023

  1. upd

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Commits on Aug 31, 2023

  1. Add mesh data to repository

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Commits on Sep 8, 2023

  1. upd

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Commits on Sep 23, 2023

  1. Fix the CableConstraint issue

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    adagolodjo committed Sep 23, 2023
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Commits on Oct 6, 2023

  1. Update the Readme.md file

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  2. update readme

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  3. update readme

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  4. Merge branch 'master' of github.com:SofaDefrost/plugin.Cosserat into … 

    …actuatorBranch
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Commits on Oct 10, 2023

  1. Merge pull request #89 from SofaDefrost/master 

    merge master CMakeLists into actuator branch
    @adagolodjo
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  2. update the README file

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  3. Merge branch 'actuatorBranch' of github.com:SofaDefrost/plugin.Cosser… 

    …at into actuatorBranch
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Commits on Oct 20, 2023

  1. updating the Readme file to much markdown guidlines

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Commits on Oct 25, 2023

  1. change folder doc name to docs

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Commits on Nov 7, 2023

  1. creating tutoriel for cosserat trainning

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Commits on Nov 9, 2023

  1. creating tutoriel for cosserat trainning

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  2. creating tutoriel for cosserat trainning

    @adagolodjo
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  3. creating tutoriel for cosserat trainning

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Commits on Nov 14, 2023

  1. update tutorials docs

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Commits on Nov 19, 2023

  1. last modif

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Commits on Dec 1, 2023

  1. Enhanced the implementation to consider beam elongation, marking a si… 

    …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.
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Commits on Dec 4, 2023

  1. update the branche cosseratExtension and fix some bugs

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Commits on Dec 15, 2023

  1. update

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  2. [forcefield] add template vec6types to BeamHookeLawForceField

    @EulalieCoevoet
    EulalieCoevoet committed Dec 15, 2023
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  3. Merge pull request #93 from EulalieCoevoet/pr_beamhookelawfftemplate 

    [forcefield] add template vec6types to BeamHookeLawForceField
    @adagolodjo
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Commits on Jan 10, 2024

  1. integrate cosserat logmap code

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Commits on Feb 13, 2024

  1. add a python file to compute logarithme

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Commits on Feb 16, 2024

  1. fix issue of component name

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Commits on Feb 26, 2024

  1. update tutoriel scenes

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Commits on Mar 1, 2024

  1. update files and fix some bugs 

    Update files and fix some bugs related to sofa version
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Commits on Mar 20, 2024

  1. add __init__ file in actuator folder

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  2. Merge branch 'master' of github.com:SofaDefrost/plugin.Cosserat

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Commits on Apr 4, 2024

  1. merge master in cosseratExtension

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Commits on Apr 5, 2024

  1. Fixed: Parent function of 'init' in DiscreteCosseratMapping was calle… 

    …d very early, before the initialisation of mechanical parameters such as position.
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  2. Fixed: Parent function of 'init' in DiscreteCosseratMapping was calle… 

    …d very early, before the initialisation of mechanical parameters such as position.
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Commits on Apr 6, 2024

  1. fixed: warning in the call of destructor in cosserat's forcefield

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Commits on Apr 9, 2024

  1. update tutoriel and related scenes

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Commits on Apr 23, 2024

  1. fix a bug related to the use of bool type in python prefabs

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Commits on Jun 6, 2024

  1. update scenes

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  2. fix conflit in CosseratObject

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  3. merge master in cosseratExtension

    @adagolodjo
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  4. Archive tutorial files for future reference (removed from docs)

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Commits on Jun 7, 2024

  1. Basic review of BaseCosserat

    @damienmarchal
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  2. Rename print_matrix, build_projector, extract_matrix in CamlCase

    @damienmarchal
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  3. Rename "python_names" into CamlCase.

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Commits on Jun 9, 2024

  1. Rename the cosserat/config.h.in file to cosserat/initCosserat.h.in 

    - cosserat/config.h.in -> cosserat/initCosserat.h.in
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  2. Update the Cosserat mapping names to follow a consistent naming

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Commits on Jun 10, 2024

  1. Updating Cosserat namespace

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Commits on Jun 11, 2024

  1. Rename BaseCosserat into BaseCosseratMapping

    @damienmarchal
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  2. Rename BaseCosserat files into BaseCosseratMapping

    @damienmarchal
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  3. Refactor the code so that BaseCosseratMapping is the base class of Co… 

    …sseratMapping
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Commits on Jun 12, 2024

  1. Add a Cosserat/fwd.h file to declare new types in Cosserat plugin 

    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.
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  2. Move SE3, se3, _SE3, _se3 out of the class.

    @damienmarchal
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  3. FIXUP

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  4. Add a types.h file to factorize all types declaration in cosserat plu… 

    …gins
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  5. Add a comment in BaseCOsseratMapping.

    @damienmarchal
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  6. Replace Matrix3 by Mat3x3 and Matrix4 by Mat4x4.

    @damienmarchal
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  7. Replace if(d_debug) msg_info("YOLO") by msg_info() 

    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.
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  8. Replace ReadAccessor with sofa::helper::getReadAccessor; 

    The sofa::helper::getReadAccessor function is to be used on type free expression this way:
auto a = getReadAccessor(m_data);
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  9. remove toModel, fromModel1, fromModel2 to use he inherited attributes… 

    … from MultiMapping
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  10. Several cleaning BaseCosseratMapping

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  11. Clean Vec6,Mat4x4 usage in BaseCosseratMapping for more readability (… 

    …should't be breaking)
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Commits on Jun 13, 2024

  1. Cosmetic cleaning in BaseCosserat & DiscreteCorreseratMapping.h

    @damienmarchal
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  2. Removes un-needed includes in BaseCosseratMapping.h

    @damienmarchal
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  3. Factorize toModel, fromModel1, fromModel2 in BaseCosseratMapping

    @damienmarchal
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  4. Refactor the init() between BaseCosseratMapping & its child classes (… 

    …breaking)
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  5. Factorize initialization in BaseCosseratMapping.

    @damienmarchal
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  6. FIXUP initialization.

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  7. Factorizing in init funciton.

    @damienmarchal
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  8. Types declaration in BaseCosseratMapping removed.

    @damienmarchal
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  9. Modernize types declaration in DiscreetCosseratMapping 

    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.
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Commits on Jun 18, 2024

  1. Refactor computeAdjoint.

    @damienmarchal
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Commits on Jun 25, 2024

  1. add callback function in case we are doing dynamic discretisation of … 

    …cosserat beam
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Commits on Jun 26, 2024

  1. mv the initCosserat.h.in file into config.h.in

    @adagolodjo
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  2. Merge pull request #111 from SofaDefrost/cosseratExtension-review2 

    Cosserat extension refactoring 2
    @adagolodjo
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