RobWorkProject
23.9.11

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 EulerBernoulli beam model in fixedfree 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 finitedifferences. More...  
class  TrapMethod 
Implementation of the trapezoidal rule for integration. More...  
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.coinor.org/Ipopt).
Currently it implements the nonlinear 'Modified Russel' beam model, described in the Ph.D. dissertation 'Modeling and Simulation of Grasping of Deformable Objects' by Andreas Rune Fugl (2012).