GVSBody ---------- .. automodule:: classes This abstract class represents a slender soft body modeled under the Geometric Variable Strain (GVS) approach of :cite:p:`boyer2020dynamics`. The class implements all the methods required by a :class:`Body `. Concrete subclasses must define a strain basis :math:`\boldsymbol{\Phi}(\boldsymbol{q}, s) \in \mathbb{R}^{6 \times n}` such that .. math:: \boldsymbol{\xi}(\boldsymbol{q}, s) = \boldsymbol{\Phi}(\boldsymbol{q}, s)\boldsymbol{q} + \boldsymbol{\xi}_{0} where :math:`\boldsymbol{\xi} \in \mathbb{R}^{6 \times 1}` is the strain, being :math:`\boldsymbol{\xi}_{0}` its stress-free value, :math:`\boldsymbol{q} \in \mathbb{R}^{n}` the vector of configuration variables and :math:`s \in [0, L_{0}]` the curvilinear abscissa, with :math:`L_{0}` the body rest length. See :class:`PCC2D ` or :class:`PCC3D ` for how the strain basis can be implemented. .. autoclass:: GVSBody :show-inheritance: :members: .. toctree:: GVS/pcc2d GVS/pcc2dElongation GVS/pcc3d GVS/pac2d GVS/pac3d GVS/pgc3d