PCC3D¶

This class represents a slender soft body under the Piecewise Constant Curvature (PCC) hypothesis with elongation. The strain is modeled as

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

where $\boldsymbol{q} \in \mathbb{R}^{3 \times 1}$ is the vector of configuration variables and $s \in [0, L_{0}]$ the curvilinear abscissa, with $L_{0}$ the body rest length.

class PCC3D¶

Bases: GVSBody

Class modeling a 3D piecewise constant curvature (PCC) body with elongation.

Constructor Summary

PCC3D(Parameters)¶

Construct a 3D PCC body with elongation.

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