Implement of Cosserat 6Dofs Beam & Tutorial

.cache/jb/version.txt

@@ -0,0 +1 @@
+(ssh://git@git.jetbrains.team/llvm/llvm-project.git 8f193d135b5e285f03a4863d7cf657c97c24b0b3 based on LLVM ed5dd8e5f0fb6ca4af26adcb6193a9d9106eb36a revision)

CMakeLists.txt

@@ -37,6 +37,8 @@ set(HEADER_FILES
     ${SRC_ROOT_DIR}/engine/PointsManager.inl
     ${SRC_ROOT_DIR}/forcefield/BeamHookeLawForceField.h
     ${SRC_ROOT_DIR}/forcefield/BeamHookeLawForceField.inl
+    ${SRC_ROOT_DIR}/forcefield/BeamHookeLawForceFieldRigid.h
+    ${SRC_ROOT_DIR}/forcefield/BeamHookeLawForceFieldRigid.inl
     ${SRC_ROOT_DIR}/forcefield/CosseratInternalActuation.h
     ${SRC_ROOT_DIR}/forcefield/CosseratInternalActuation.inl
     ${SRC_ROOT_DIR}/constraint/CosseratSlidingConstraint.h
@@ -56,6 +58,7 @@ set(SOURCE_FILES
     ${SRC_ROOT_DIR}/mapping/RigidDistanceMapping.cpp
     ${SRC_ROOT_DIR}/engine/PointsManager.cpp
     ${SRC_ROOT_DIR}/forcefield/BeamHookeLawForceField.cpp
+    ${SRC_ROOT_DIR}/forcefield/BeamHookeLawForceFieldRigid.cpp
     ${SRC_ROOT_DIR}/forcefield/CosseratInternalActuation.cpp
     ${SRC_ROOT_DIR}/constraint/CosseratSlidingConstraint.cpp
     ${SRC_ROOT_DIR}/mapping/LegendrePolynomialsMapping.cpp
@@ -84,7 +87,7 @@ if(WIN32)
     add_definitions(-D_WINSOCKAPI_)
 endif()
 
-add_library(${PROJECT_NAME} SHARED ${HEADER_FILES} ${SOURCE_FILES} ${DOC_FILES} ${RESOURCE_FILES} )
+add_library(${PROJECT_NAME} SHARED ${HEADER_FILES} ${SOURCE_FILES} ${DOC_FILES} )
 target_link_libraries(${PROJECT_NAME}
     Sofa.Component.Constraint.Lagrangian.Model
     Sofa.Component.StateContainer

README.md

@@ -1,59 +1,147 @@
-[![Gitter](https://img.shields.io/badge/chat-on_Gitter-ff69b4.svg)](https://app.gitter.im/#/room/#sofa-framework_cosserat-needle-insertion:gitter.im)
-[![Support](https://img.shields.io/badge/support-on_GitHub_Discussions-blue.svg)](https://github.com/sofa-framework/sofa/discussions/categories/cosserat)
-
-![download](https://img.shields.io/github/downloads/SofaDefrost/Cosserat/total.svg)
-![forks](https://img.shields.io/github/forks/SofaDefrost/Cosserat.svg)
-![stars](https://img.shields.io/github/stars/SofaDefrost/Cosserat.svg)
-
-
-# Description
-
-Cosserat model has been introduced in continuum robotics to simulate the deformation of the robot body whose geometry
-and mechanical characteristics are similar to a rod.
-By extension, this model can be used to simulate needles, wires.
-The specificity of Cosserat's theory from the point of view of the mechanics of continuous media, is to consider that: each material point
-of an object is rigid body(3 translations, 3 rotations), where most other models of continuum media mechanics consider
-the material point as particles (3 translations).
-For the modeling of linear structures, it is therefore possible to find a framework very close to the articulated solids with a series
-of rigid body whose relative position is defined by a strain state.
-This model can be used to model and control concentric tube robots, continuum robots actuated with cables, or pneumatic soft robots
-with a constant cross-section.
-
-## Features
-
-1. Pieces-wise constant Strain PCS: This feature is base on the paper
-   1. __Discrete cosserat approach for soft robot dynamics: A new piece-wise constant strain model with torsion and shears__ [Link to the paper](https://ieeexplore.ieee.org/document/7759808)
-   2. __Coupling numerical deformable models in global and reduced coordinates for the simulation of the direct and the inverse kinematics of Soft Robots__ [Link to the paper](https://hal.archives-ouvertes.fr/hal-03192168/document)
-
-<div align="center">
-  <a href="https://www.youtube.com/watch?v=qwzKAgw31pU"><img src="https://img.youtube.com/vi/qwzKAgw31pU/0.jpg" alt="link to youtube"></a>
-</div>
-
-2. Pieces-wise Non-constant Strain:
-3. DCM with Plastic model
-
-### Modelling cochlear implant using Discret Cosserat Model (DCM)
-
-| View 1                                                                                      | View 2                                                                                      | View 3                                                                                      |
-|---------------------------------------------------------------------------------------------|---------------------------------------------------------------------------------------------|---------------------------------------------------------------------------------------------|
-| <img src="/doc/images/multiSectionWithColorMap1.png" width="300" title="DCM as an implant"> | <img src="/doc/images/multiSectionWithColorMap2.png" width="300" title="DCM as an implant"> | <img src="/doc/images/multiSectionWithColorMap3.png" width="300" title="DCM as an implant"> |
-
-### DCM for cable modeling to control deformable robots:
-| Direct simulation of a soft gripper                                                      | The study the model convergence |
-|------------------------------------------------------------------------------------------| --- |
-| <img src="/doc/images/cosseratgripper_2.png" width="400" title="DCM for cable modeling"> | <img src="/doc/images/tenCossseratSections.png" width="400" title="DCM for cable modeling ">|
-
-### Some use cases
-
-| <img src="/doc/images/actuationConstraint_2.png" width="300" title="DCM Beam actuation using a given cable">     | <img src="doc/images/circleActuationConstraint.png" width="300" title="DCM Beam actuation using a given cable">           | <img src="/doc/images/actuationConstraint_1.png" width="300" title="DCM Beam actuation using a cable">  |
-| ------------- |:-------------:| -----:|
-| DCM Beam actuation using a cable ```d =``` | DCM Beam actuation using a cable ```d =```| Beam actuation using a cable ```d =```|
-
-
-| <img src="/doc/images/example1.gif" width="300" title="PCS_Example1.py ">     | <img src="./doc/images/example2.gif" widt="300" title="PCS_Example2.py">    | <img src="./doc/images/example2.gif" width="300" title="PCS_Example3.PCS">  |
-| ------------- |:-------------:| -------------:|
-| DCM Beam actuation using a cable ```d =``` | DCM Beam actuation using a cable ```d =```| Beam actuation using a cable ```d =```|
-
-
-Format: ![Alt Text]
-
+# Cosserat
+<div class="highlight-content">
+<strong>Overview</strong> 
+
+An open-source plugin, designed to be compatible with the Sofa framework, facilitates the simulation of 1D objects. 
+Specifically, it caters to the modeling of both rigid and flexible 1D entities, like rods, wires or needles, using the Cosserat beam theory.
+In this context, we have outlined a range of potential applications for this plugin. If you wish to explore its functionality, you have the flexibility to construct scenes using Python or XML, or you can take it a step further by developing new C++ components.
+We also welcome contributions from the community to enhance and expand the capabilities of this plugin.
+
+</div>
+
+## Description related to Soft-body modeling
+
+The Cosserat model has found applications in the realm of continuum robotics, particularly for simulating the deformation of robot bodies with geometries and mechanical properties akin to rods. 
+This model aligns closely with the dynamic deformation patterns exhibited by soft manipulators, as it can effectively replicate nonlinear deformations encompassing bending, torsion, extension, and shearing.
+
+One distinctive feature of Cosserat's theory, within the domain of continuous media mechanics, lies in its conceptualization:
+it views each material point of an object as a rigid body with six degrees of freedom (three translations and three rotations).
+In contrast, many other models in continuum media mechanics tend to treat material points as particles with only three translation degrees of freedom.
+
+When modeling linear structures, this framework enables the creation of a structure closely resembling articulated solids, consisting of a series of rigid bodies whose relative positions are defined by their strain states. 
+Consequently, this model serves as a versatile tool for modeling and controlling a variety of systems, including concentric tube robots, continuum robots driven by cables, or pneumatic soft robots with constant cross-sections.
+
+Go into theorotical part of the plugin [Theory](docs/text/Theory.md)
+
+Follow the tutorial : [cosserat_tutorial](docs/text/cosserat_tutorial.md)
+## Some use cases
+
+
+### Modeling and control
+
+Lorem ipsum dolor sit amet, consectetur adipiscing elit, sed do eiusmod tempor incididunt ut labore et dolore magna aliqua. 
+
+#### Direct control
+
+Lorem ipsum dolor sit amet, consectetur adipiscing elit, sed do eiusmod tempor incididunt ut labore et dolore magna aliqua. 
+
+#### Modeling cochlear implant using Discret Cosserat Model (DCM)
+
+
+| View 1                                                                                       | View 2                                                                                       | View 3                                                                                       |
+|----------------------------------------------------------------------------------------------|----------------------------------------------------------------------------------------------|----------------------------------------------------------------------------------------------|
+| ![333](docs/images/multiSectionWithColorMap1.png) | ![333](docs/images/multiSectionWithColorMap2.png) | ![333](docs/images/multiSectionWithColorMap3.png) |
+
+
+## Utilizing the Discrete Cosserat Model for Cable Modeling in Deformable Robot Control:
+
+
+| Direct simulation of a soft gripper                                                       | The study of the model convergence                                                            |
+|-------------------------------------------------------------------------------------------|-----------------------------------------------------------------------------------------------|
+| ![400](docs/images/cosseratgripper_2.png) | ![400](../../../../Templater/images/tenCossseratSections.png.md) |
+
+
+---
+
+<strong> Actuation </strong>
+
+| <img src="/docs/images/actuationConstraint_2.png" width="300" title="DCM Beam actuation using a given cable"> | <img src="docs/images/circleActuationConstraint.png" width="300" title="DCM Beam actuation using a given cable"> | <img src="/docs/images/actuationConstraint_1.png" width="300" title="DCM Beam actuation using a cable"> |
+|---------------------------------------------------------------------------------------------------------------|:----------------------------------------------------------------------------------------------------------------:|--------------------------------------------------------------------------------------------------------:|
+| DCM Beam actuation using a cable ```d =```                                                                    |                                    DCM Beam actuation using a cable ```d =```                                    |                                                                  Beam actuation using a cable ```d =``` |
+
+
+| <img src="/docs/images/example1.gif" width="300" title="PCS_Example1.py "> | <img src="./docs/images/example2.gif" widt="300" title="PCS_Example2.py"> | <img src="./docs/images/example2.gif" width="300" title="PCS_Example3.PCS"> |
+|----------------------------------------------------------------------------|:-------------------------------------------------------------------------:|----------------------------------------------------------------------------:|
+| DCM Beam actuation using a cable ```d =```                                 |                DCM Beam actuation using a cable ```d =```                 |                                      Beam actuation using a cable ```d =``` |
+
+<strong> Tripod using bending lab sensors </strong>
+Format: ![Alt Text]
+
+
+### Inverse Control
+
+
+## Publications
+1. Pieces-wise constant Strain PCS: This feature is based on the paper
+- __Discrete cosserat approach for soft robot dynamics: A new piece-wise constant strain model with torsion and shears__ [Link to the paper](https://ieeexplore.ieee.org/document/7759808)
+- __Coupling numerical deformable models in global and reduced coordinates for the simulation of the direct and the inverse kinematics of Soft Robots__ [Link to the paper](https://ieeexplore.ieee.org/abstract/document/9362217).
+The link to download the Pdf of the Paper: __https://hal.archives-ouvertes.fr/hal-03192168/document__
+
+<div align="center">
+  <a href="https://www.youtube.com/watch?v=qwzKAgw31pU"><img src="https://img.youtube.com/vi/qwzKAgw31pU/0.jpg" alt="link to youtube"></a>
+</div>
+
+2. Pieces-wise Non-constant Strain:
+3. DCM with Plastic model
+
+
+%%% old_version 
+[![Gitter](https://img.shields.io/badge/chat-on_Gitter-ff69b4.svg)](https://app.gitter.im/#/room/#sofa-framework_cosserat-needle-insertion:gitter.im)
+[![Support](https://img.shields.io/badge/support-on_GitHub_Discussions-blue.svg)](https://github.com/sofa-framework/sofa/discussions/categories/cosserat)
+
+![download](https://img.shields.io/github/downloads/SofaDefrost/Cosserat/total.svg)
+![forks](https://img.shields.io/github/forks/SofaDefrost/Cosserat.svg)
+![stars](https://img.shields.io/github/stars/SofaDefrost/Cosserat.svg)
+
+
+# Description
+
+Cosserat model has been introduced in continuum robotics to simulate the deformation of the robot body whose geometry
+and mechanical characteristics are similar to a rod.
+By extension, this model can be used to simulate needles, wires.
+The specificity of Cosserat's theory from the point of view of the mechanics of continuous media, is to consider that: each material point
+of an object is rigid body(3 translations, 3 rotations), where most other models of continuum media mechanics consider
+the material point as particles (3 translations).
+For the modeling of linear structures, it is therefore possible to find a framework very close to the articulated solids with a series
+of rigid body whose relative position is defined by a strain state.
+This model can be used to model and control concentric tube robots, continuum robots actuated with cables, or pneumatic soft robots
+with a constant cross-section.
+
+## Features
+
+1. Pieces-wise constant Strain PCS: This feature is base on the paper
+   1. __Discrete cosserat approach for soft robot dynamics: A new piece-wise constant strain model with torsion and shears__ [Link to the paper](https://ieeexplore.ieee.org/document/7759808)
+   2. __Coupling numerical deformable models in global and reduced coordinates for the simulation of the direct and the inverse kinematics of Soft Robots__ [Link to the paper](https://hal.archives-ouvertes.fr/hal-03192168/document)
+
+<div align="center">
+  <a href="https://www.youtube.com/watch?v=qwzKAgw31pU"><img src="https://img.youtube.com/vi/qwzKAgw31pU/0.jpg" alt="link to youtube"></a>
+</div>
+
+2. Pieces-wise Non-constant Strain:
+3. DCM with Plastic model
+
+### Modelling cochlear implant using Discret Cosserat Model (DCM)
+
+| View 1                                                                                      | View 2                                                                                      | View 3                                                                                      |
+|---------------------------------------------------------------------------------------------|---------------------------------------------------------------------------------------------|---------------------------------------------------------------------------------------------|
+| <img src="/doc/images/multiSectionWithColorMap1.png" width="300" title="DCM as an implant"> | <img src="/doc/images/multiSectionWithColorMap2.png" width="300" title="DCM as an implant"> | <img src="/doc/images/multiSectionWithColorMap3.png" width="300" title="DCM as an implant"> |
+
+### DCM for cable modeling to control deformable robots:
+| Direct simulation of a soft gripper                                                      | The study the model convergence |
+|------------------------------------------------------------------------------------------| --- |
+| <img src="/doc/images/cosseratgripper_2.png" width="400" title="DCM for cable modeling"> | <img src="/doc/images/tenCossseratSections.png" width="400" title="DCM for cable modeling ">|
+
+### Some use cases
+
+| <img src="/doc/images/actuationConstraint_2.png" width="300" title="DCM Beam actuation using a given cable">     | <img src="doc/images/circleActuationConstraint.png" width="300" title="DCM Beam actuation using a given cable">           | <img src="/doc/images/actuationConstraint_1.png" width="300" title="DCM Beam actuation using a cable">  |
+| ------------- |:-------------:| -----:|
+| DCM Beam actuation using a cable ```d =``` | DCM Beam actuation using a cable ```d =```| Beam actuation using a cable ```d =```|
+
+
+| <img src="/doc/images/example1.gif" width="300" title="PCS_Example1.py ">     | <img src="./doc/images/example2.gif" widt="300" title="PCS_Example2.py">    | <img src="./doc/images/example2.gif" width="300" title="PCS_Example3.PCS">  |
+| ------------- |:-------------:| -------------:|
+| DCM Beam actuation using a cable ```d =``` | DCM Beam actuation using a cable ```d =```| Beam actuation using a cable ```d =```|
+
+
+Format: ![Alt Text]
+