PCC2D¶

This class represents a planar slender soft body under the Piecewise Constant Curvature (PCC) hypothesis without elongation. The strain is modeled as

$\boldsymbol{\xi}(q, s) = \boldsymbol{\Phi}(s)q + \boldsymbol{\xi}_{0} = \frac{1}{L_0} \left(\begin{array}{c} 1 \\ 0 \\ 0 \\ 0 \\ 0 \\ 1 \end{array}\right)q + \left(\begin{array}{c} 0 \\ 0 \\ 0 \\ 0 \\ 0 \\ 1 \end{array}\right),$

where $q \in \mathbb{R}$ is the configuration variable and $s \in [0, L_{0}]$ the curvilinear abscissa, with $L_{0}$ the body rest length.

class PCC2D¶

Bases: GVSBody

Class modeling a 2D piecewise constant curvature (PCC) body without elongation.

Constructor Summary

PCC2D(Parameters)¶

Construct a 2D PCC body without elongation.

Parameters:: Parameters ([double], [sym]) – Parameters of the body, specified as for GVSBody