void
SymmIsotropicElasticityTensor::calculateEntries(unsigned int /*qp*/)
{
calculateLameCoefficients();
const Real C12(_lambda);
const Real C44(_mu);
const Real C11(2*C44+C12);
setEntries( C11, C12, C44 );
}
bool WorkspaceGrid::fillGridData( WorkspaceRepresentationPtr ws, ManipulationObjectPtr o, GraspPtr g, RobotNodePtr baseRobotNode )
{
if (!ws || !o || !g)
return false;
Eigen::Matrix4f graspGlobal = g->getTcpPoseGlobal(o->getGlobalPose());
WorkspaceRepresentation::WorkspaceCut2DPtr cutXY = ws->createCut(graspGlobal,discretizeSize);
std::vector<WorkspaceRepresentation::WorkspaceCut2DTransformationPtr> transformations = ws->createCutTransformations(cutXY,baseRobotNode);
setEntries(transformations,graspGlobal,g);
return true;
}