rwlibs::softbody Namespace Reference

Simulation of beam models and other soft bodies. More...

Classes
class	BeamGeometry
	Base class for discrete beam geometries. More...
class	BeamGeometryCuboid
	A cuboid beam. More...
class	BeamObstaclePlane
	A plane obstacle for a beam. More...
class	BeamStartGuess
	Utility functions for setting starting guesses for a beam model. More...
class	EBBeam
	Class for calculating the analytical solution to the Euler-Bernoulli beam model in fixed-free configuration. More...
class	ModRussel_NLP
	Implementation of the Modified Russel beam problem, using the IPOPT TNLP structure. More...
class	ModRusselBeamBase
	Base class for implementing Modified Russel beam problems. More...
class	ModRusselBeamIpopt
	Implementation of the Modified Russel Beam Problem using IPOPT. More...
struct	RusselIntegrand
	Implementation of the Modified Russel energy density functions. More...
struct	RusselIntegrandEonly
	Implementation of the Modified Russel elastic energy density function. More...
class	FdUtil
	Various numerical methods using finite-differences. More...
class	TrapMethod
	Implementation of the trapezoidal rule for integration. More...

Detailed Description

Simulation of beam models and other soft bodies.

A collection of various soft body simulations, in particular beam models. This package depends on the optimization package IPOPT (https://projects.coin-or.org/Ipopt).

Currently it implements the non-linear 'Modified Russel' beam model, described in the Ph.D. dissertation 'Modeling and Simulation of Grasping of Deformable Objects' by Andreas Rune Fugl (2012).