usNeedleInsertionModelKinematic Class Reference

#include <visp3/ustk_needle_modeling/usNeedleInsertionModelKinematic.h>

Inheritance diagram for usNeedleInsertionModelKinematic:

Public Member Functions
	usNeedleInsertionModelKinematic ()
	usNeedleInsertionModelKinematic (const usNeedleInsertionModelKinematic &needle)
	~usNeedleInsertionModelKinematic ()
usNeedleInsertionModelKinematic &	operator= (const usNeedleInsertionModelKinematic &needle)
virtual usNeedleInsertionModelKinematic *	clone () const
void	setNaturalCurvature (double naturalCurvature)
double	getNaturalCurvature () const
const usNeedleModelBaseTip &	accessNeedle () const
usNeedleModelBaseTip &	accessNeedle ()
bool	moveBase (double vz, double wz, double time)
bool	moveBase (double controlCurvature, double vz, double wz, double time)
bool	setBasePose (const vpPoseVector &pose)
vpPoseVector	getBasePose () 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)
virtual bool	setBasePose (const vpPoseVector &pose)=0
bool	setBasePose (double tx, double ty, double tz, double thetax, double thetay, double thetaz)
bool	setBasePose (const vpHomogeneousMatrix &Hpose)
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)

Protected Attributes
usNeedleModelBaseTip	m_needle
double	m_naturalCurvature

Detailed Description

Examples

testUsNeedleInsertionModelKinematic.cpp.

Definition at line 41 of file usNeedleInsertionModelKinematic.h.

Constructor & Destructor Documentation

usNeedleInsertionModelKinematic() [1/2]

usNeedleInsertionModelKinematic::usNeedleInsertionModelKinematic

(

)

Constructors, destructors.

Definition at line 39 of file usNeedleInsertionModelKinematic.cpp.

Referenced by clone().

usNeedleInsertionModelKinematic() [2/2]

usNeedleInsertionModelKinematic::usNeedleInsertionModelKinematic

(

const usNeedleInsertionModelKinematic &

needle

)

Definition at line 41 of file usNeedleInsertionModelKinematic.cpp.

~usNeedleInsertionModelKinematic()

usNeedleInsertionModelKinematic::~usNeedleInsertionModelKinematic

(

)

Definition at line 46 of file usNeedleInsertionModelKinematic.cpp.

Member Function Documentation

accessNeedle() [1/2]

usNeedleModelBaseTip & usNeedleInsertionModelKinematic::accessNeedle

(

)

Definition at line 72 of file usNeedleInsertionModelKinematic.cpp.

References m_needle.

accessNeedle() [2/2]

const usNeedleModelBaseTip & usNeedleInsertionModelKinematic::accessNeedle

(

)

const

Needle.

Examples

testUsNeedleInsertionModelKinematic.cpp.

Definition at line 70 of file usNeedleInsertionModelKinematic.cpp.

References m_needle.

Referenced by usNeedleModelingDisplayTools::display().

clone()

usNeedleInsertionModelKinematic * usNeedleInsertionModelKinematic::clone ( ) const

virtual

Definition at line 58 of file usNeedleInsertionModelKinematic.cpp.

References usNeedleInsertionModelKinematic().

getBasePose()

vpPoseVector usNeedleInsertionModelKinematic::getBasePose ( ) const

virtual

Implements usNeedleInsertionModelInterface.

Definition at line 112 of file usNeedleInsertionModelKinematic.cpp.

References usNeedleModelBaseTip::getBasePose(), and m_needle.

getBasePosition()

vpColVector usNeedleInsertionModelInterface::getBasePosition ( ) const

inherited

Definition at line 51 of file usNeedleInsertionModelInterface.cpp.

References usNeedleInsertionModelInterface::getBasePose().

getNaturalCurvature()

double usNeedleInsertionModelKinematic::getNaturalCurvature

(

)

const

Definition at line 68 of file usNeedleInsertionModelKinematic.cpp.

References m_naturalCurvature.

getWorldMbase()

vpHomogeneousMatrix usNeedleInsertionModelInterface::getWorldMbase ( ) const

inherited

Definition at line 56 of file usNeedleInsertionModelInterface.cpp.

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

moveBase() [1/12]

bool usNeedleInsertionModelInterface::moveBase ( const vpColVector &  v )

inherited

Definition at line 89 of file usNeedleInsertionModelInterface.cpp.

References usNeedleInsertionModelInterface::moveBase().

moveBase() [2/12]

bool usNeedleInsertionModelInterface::moveBase

Control of the needle.

Definition at line 59 of file usNeedleInsertionModelInterface.cpp.

moveBase() [3/12]

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

inherited

Examples

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

Definition at line 61 of file usNeedleInsertionModelInterface.cpp.

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

moveBase() [4/12]

bool usNeedleInsertionModelInterface::moveBase

Control of the needle.

Definition at line 56 of file usNeedleInsertionModelInterface.cpp.

Referenced by moveBase().

moveBase() [5/12]

bool usNeedleInsertionModelInterface::moveBase ( const vpHomogeneousMatrix &  Hmotion )

inherited

Definition at line 98 of file usNeedleInsertionModelInterface.cpp.

References usNeedleInsertionModelInterface::getWorldMbase(), and usNeedleInsertionModelInterface::setBasePose().

moveBase() [6/12]

bool usNeedleInsertionModelInterface::moveBase

Control of the needle.

Definition at line 60 of file usNeedleInsertionModelInterface.cpp.

moveBase() [7/12]

bool usNeedleInsertionModelInterface::moveBase ( const vpPoseVector &  pose )

inherited

Definition at line 84 of file usNeedleInsertionModelInterface.cpp.

References usNeedleInsertionModelInterface::moveBase().

moveBase() [8/12]

bool usNeedleInsertionModelInterface::moveBase

Control of the needle.

Definition at line 58 of file usNeedleInsertionModelInterface.cpp.

moveBase() [9/12]

bool usNeedleInsertionModelKinematic::moveBase	(	double	controlCurvature,
		double	vz,
		double	wz,
		double	time
	)

Definition at line 83 of file usNeedleInsertionModelKinematic.cpp.

References m_naturalCurvature, and moveBase().

moveBase() [10/12]

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

inherited

Definition at line 78 of file usNeedleInsertionModelInterface.cpp.

References usNeedleInsertionModelInterface::moveBase().

moveBase() [11/12]

bool usNeedleInsertionModelInterface::moveBase

Control of the needle.

Definition at line 57 of file usNeedleInsertionModelInterface.cpp.

moveBase() [12/12]

bool usNeedleInsertionModelKinematic::moveBase	(	double	vz,
		double	wz,
		double	time
	)

Examples

testUsNeedleInsertionModelKinematic.cpp.

Definition at line 74 of file usNeedleInsertionModelKinematic.cpp.

References usNeedleInsertionModelInterface::moveBase().

moveBaseWorldFrame() [1/5]

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

inherited

Definition at line 106 of file usNeedleInsertionModelInterface.cpp.

Referenced by usNeedleInsertionModelInterface::moveBaseWorldFrame().

moveBaseWorldFrame() [2/5]

bool usNeedleInsertionModelInterface::moveBaseWorldFrame ( const vpColVector &  v )

inherited

Definition at line 132 of file usNeedleInsertionModelInterface.cpp.

References usNeedleInsertionModelInterface::moveBaseWorldFrame().

moveBaseWorldFrame() [3/5]

bool usNeedleInsertionModelInterface::moveBaseWorldFrame ( const vpHomogeneousMatrix &  Hmotion )

inherited

Definition at line 142 of file usNeedleInsertionModelInterface.cpp.

References usNeedleInsertionModelInterface::getWorldMbase(), and usNeedleInsertionModelInterface::moveBase().

moveBaseWorldFrame() [4/5]

bool usNeedleInsertionModelInterface::moveBaseWorldFrame ( const vpPoseVector &  pose )

inherited

Definition at line 127 of file usNeedleInsertionModelInterface.cpp.

References usNeedleInsertionModelInterface::moveBaseWorldFrame().

moveBaseWorldFrame() [5/5]

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

inherited

Definition at line 121 of file usNeedleInsertionModelInterface.cpp.

References usNeedleInsertionModelInterface::moveBaseWorldFrame().

operator=()

usNeedleInsertionModelKinematic & usNeedleInsertionModelKinematic::operator=

(

const usNeedleInsertionModelKinematic &

needle

)

Definition at line 48 of file usNeedleInsertionModelKinematic.cpp.

References m_naturalCurvature, and m_needle.

setBasePose() [1/6]

bool usNeedleInsertionModelInterface::setBasePose ( const vpHomogeneousMatrix &  Hpose )

inherited

Definition at line 46 of file usNeedleInsertionModelInterface.cpp.

References usNeedleInsertionModelInterface::setBasePose().

setBasePose() [2/6]

bool usNeedleInsertionModelInterface::setBasePose

Definition at line 51 of file usNeedleInsertionModelInterface.cpp.

setBasePose() [3/6]

bool usNeedleInsertionModelKinematic::setBasePose ( const vpPoseVector &  pose )

virtual

The following methods should be redefined in the derived classes.

Implements usNeedleInsertionModelInterface.

Definition at line 95 of file usNeedleInsertionModelKinematic.cpp.

References usNeedleModelBaseTip::getWorldMbase(), m_naturalCurvature, m_needle, usNeedleModelBaseTip::moveTip(), and usNeedleModelBaseTip::setBasePose().

setBasePose() [4/6]

virtual bool usNeedleInsertionModelInterface::setBasePose

The following methods should be redefined in the derived classes.

setBasePose() [5/6]

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

inherited

These function simply overload the previous ones.

Definition at line 40 of file usNeedleInsertionModelInterface.cpp.

References usNeedleInsertionModelInterface::setBasePose().

setBasePose() [6/6]

bool usNeedleInsertionModelInterface::setBasePose

These function simply overload the previous ones.

Definition at line 50 of file usNeedleInsertionModelInterface.cpp.

setNaturalCurvature()

void usNeedleInsertionModelKinematic::setNaturalCurvature

(

double

naturalCurvature

)

Parameters setters and getters.

Curvature

Examples

testUsNeedleInsertionModelKinematic.cpp.

Definition at line 63 of file usNeedleInsertionModelKinematic.cpp.

References m_naturalCurvature.

Member Data Documentation

m_naturalCurvature

double usNeedleInsertionModelKinematic::m_naturalCurvature

protected

needle curvature parameter

Definition at line 47 of file usNeedleInsertionModelKinematic.h.

Referenced by getNaturalCurvature(), moveBase(), operator=(), setBasePose(), and setNaturalCurvature().

m_needle

usNeedleModelBaseTip usNeedleInsertionModelKinematic::m_needle

protected

Definition at line 45 of file usNeedleInsertionModelKinematic.h.

Referenced by accessNeedle(), getBasePose(), operator=(), and setBasePose().