usNeedleInsertionModelInterface Class Reference

#include <visp3/ustk_needle_modeling/usNeedleInsertionModelInterface.h>

Inheritance diagram for usNeedleInsertionModelInterface:

Public Member Functions
virtual bool	setBasePose (const vpPoseVector &pose)=0
virtual vpPoseVector	getBasePose () const =0
bool	setBasePose (double tx, double ty, double tz, double thetax, double thetay, double thetaz)
bool	setBasePose (const vpHomogeneousMatrix &Hpose)
vpHomogeneousMatrix	getWorldMbase () const
vpColVector	getBasePosition () const
bool	moveBase (const vpColVector &v, double time)
bool	moveBase (double tx, double ty, double tz, double thetax, double thetay, double thetaz)
bool	moveBase (const vpPoseVector &pose)
bool	moveBase (const vpColVector &v)
bool	moveBase (const vpHomogeneousMatrix &Hmotion)
bool	moveBaseWorldFrame (const vpColVector &command, double time)
bool	moveBaseWorldFrame (double tx, double ty, double tz, double thetax, double thetay, double thetaz)
bool	moveBaseWorldFrame (const vpPoseVector &pose)
bool	moveBaseWorldFrame (const vpColVector &v)
bool	moveBaseWorldFrame (const vpHomogeneousMatrix &Hmotion)

Detailed Description

Definition at line 40 of file usNeedleInsertionModelInterface.h.

Member Function Documentation

getBasePose()

virtual vpPoseVector usNeedleInsertionModelInterface::getBasePose ( ) const

pure virtual

Implemented in usNeedleInsertionModelVirtualSprings, usNeedleInsertionModelRayleighRitzSpline, and usNeedleInsertionModelKinematic.

Referenced by getBasePosition().

getBasePosition()

vpColVector usNeedleInsertionModelInterface::getBasePosition

(

)

const

Definition at line 51 of file usNeedleInsertionModelInterface.cpp.

References getBasePose().

getWorldMbase()

vpHomogeneousMatrix usNeedleInsertionModelInterface::getWorldMbase

(

)

const

Definition at line 56 of file usNeedleInsertionModelInterface.cpp.

Referenced by moveBase(), and moveBaseWorldFrame().

moveBase() [1/5]

bool usNeedleInsertionModelInterface::moveBase

(

const vpColVector &

v

)

Definition at line 89 of file usNeedleInsertionModelInterface.cpp.

References moveBase().

moveBase() [2/5]

bool usNeedleInsertionModelInterface::moveBase	(	const vpColVector &	v,
		double	time
	)

Examples

testUsNeedleInsertionModelRayleighRitzSpline.cpp, testUsNeedleInsertionModelVirtualSprings.cpp, and testUsNeedleJacobians.cpp.

Definition at line 61 of file usNeedleInsertionModelInterface.cpp.

Referenced by moveBase(), usNeedleInsertionModelKinematic::moveBase(), and moveBaseWorldFrame().

moveBase() [3/5]

bool usNeedleInsertionModelInterface::moveBase

(

const vpHomogeneousMatrix &

Hmotion

)

Definition at line 98 of file usNeedleInsertionModelInterface.cpp.

References getWorldMbase(), and setBasePose().

moveBase() [4/5]

bool usNeedleInsertionModelInterface::moveBase

(

const vpPoseVector &

pose

)

Definition at line 84 of file usNeedleInsertionModelInterface.cpp.

References moveBase().

moveBase() [5/5]

bool usNeedleInsertionModelInterface::moveBase	(	double	tx,
		double	ty,
		double	tz,
		double	thetax,
		double	thetay,
		double	thetaz
	)

Definition at line 78 of file usNeedleInsertionModelInterface.cpp.

References moveBase().

moveBaseWorldFrame() [1/5]

bool usNeedleInsertionModelInterface::moveBaseWorldFrame	(	const vpColVector &	command,
		double	time
	)

Definition at line 106 of file usNeedleInsertionModelInterface.cpp.

Referenced by moveBaseWorldFrame().

moveBaseWorldFrame() [2/5]

bool usNeedleInsertionModelInterface::moveBaseWorldFrame

(

const vpColVector &

v

)

Definition at line 132 of file usNeedleInsertionModelInterface.cpp.

References moveBaseWorldFrame().

moveBaseWorldFrame() [3/5]

bool usNeedleInsertionModelInterface::moveBaseWorldFrame

(

const vpHomogeneousMatrix &

Hmotion

)

Definition at line 142 of file usNeedleInsertionModelInterface.cpp.

References getWorldMbase(), and moveBase().

moveBaseWorldFrame() [4/5]

bool usNeedleInsertionModelInterface::moveBaseWorldFrame

(

const vpPoseVector &

pose

)

Definition at line 127 of file usNeedleInsertionModelInterface.cpp.

References moveBaseWorldFrame().

moveBaseWorldFrame() [5/5]

bool usNeedleInsertionModelInterface::moveBaseWorldFrame	(	double	tx,
		double	ty,
		double	tz,
		double	thetax,
		double	thetay,
		double	thetaz
	)

Definition at line 121 of file usNeedleInsertionModelInterface.cpp.

References moveBaseWorldFrame().

setBasePose() [1/3]

bool usNeedleInsertionModelInterface::setBasePose

(

const vpHomogeneousMatrix &

Hpose

)

Definition at line 46 of file usNeedleInsertionModelInterface.cpp.

References setBasePose().

setBasePose() [2/3]

virtual bool usNeedleInsertionModelInterface::setBasePose ( const vpPoseVector &  pose )

pure virtual

The following methods should be redefined in the derived classes.

Implemented in usNeedleInsertionModelKinematic, usNeedleInsertionModelVirtualSprings, and usNeedleInsertionModelRayleighRitzSpline.

Referenced by moveBase(), and setBasePose().

setBasePose() [3/3]

bool usNeedleInsertionModelInterface::setBasePose	(	double	tx,
		double	ty,
		double	tz,
		double	thetax,
		double	thetay,
		double	thetaz
	)

These function simply overload the previous ones.

Definition at line 40 of file usNeedleInsertionModelInterface.cpp.

References setBasePose().