├── .gitignore ├── LICENSE ├── README.md ├── c++ ├── CMakeLists.txt ├── include │ ├── constantcurvaturemodel.h │ ├── cosseratrodmodel.h │ ├── piecewiseconstantcurvaturemodel.h │ ├── pseudorigidbodymodel.h │ ├── subsegmentcosseratrodmodel.h │ └── tendondrivenrobot.h ├── main.cpp └── src │ ├── constantcurvaturemodel.cpp │ ├── cosseratrodmodel.cpp │ ├── piecewiseconstantcurvaturemodel.cpp │ ├── pseudorigidbodymodel.cpp │ ├── subsegmentcosseratrodmodel.cpp │ └── tendondrivenrobot.cpp └── matlab ├── Models ├── CC │ ├── CC_solver.m │ ├── calctendonlength.m │ ├── configuration.m │ ├── construct_tdcr_cc.m │ ├── coupletransformations.m │ ├── plot_tdcr_cc.m │ └── trans_mat_cc.m ├── CCsub │ ├── CCsub_solver.m │ ├── construct_tdcr_ccsub.m │ ├── cross_product.m │ ├── plot_tdcr_ccsub.m │ ├── rotation_mat_ccsub.m │ └── trans_mat_ccsub.m ├── PRBM │ ├── PRBM_solver.m │ ├── construct_tdcr_prbm.m │ ├── plot_tdcr_prbm.m │ ├── rotation_mat_prbm.m │ └── trans_mat_prbm.m └── VC │ ├── VC_solver.m │ ├── 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