Computatuion of v_i (t+ 0.5 *delta t) and omega_i (t+ 0.5 *delta t). #420
Description
I am trying to simulate a single Cosserat rod in MATLAB using your codes and the numerical scheme discussed in the following 2018 paper: https://doi.org/10.1098/rsos.171628. According to equations (C5) and (C6) of the paper (page 25), the position and orientation at (t+delta t) can be computed using v_i (t+ 0.5 * delta t) and omega_i (t+ 0.5 *delta t). Could you please confirm whether these velocities have been computed using the following formulae in your Python code?
v_i (t+ 0.5 delta t) = v_i (t) +0.5 * delta t dv_dt(t+0.5* delta t),
and
omega_i (t+ 0.5 delta t) = omega_i (t) +0.5 * delta t domega_dt(t+0.5 *delta t),