usNeedleInsertionModelRayleighRitzSpline Class Reference

#include <visp3/ustk_needle_modeling/usNeedleInsertionModelRayleighRitzSpline.h>

Inheritance diagram for usNeedleInsertionModelRayleighRitzSpline:

Public Types
enum class	ModelPreset : int {   BiopsyNeedle , BiopsyCannula , Symmetric , AbayazidRRM13 ,   MisraRSRO10_PlastisolA , RoesthuisAM12 , SteelSoftTissue , SRL_ActuatedFBG ,   SRL_BiopsySimple , SRL_BiopsyNID , NDI_Pink_Stylet }
enum class	PathUpdateType : int { NoUpdate , WithTipPosition , WithTipDirection , WithTipMix }
enum class	NeedleTipType : int { SymmetricTip , BeveledTip , PrebentTip , ActuatedTip }
enum class	SolvingMethod : int { Classic , FixedBeamLength , NoBevel }

Public Member Functions
	usNeedleInsertionModelRayleighRitzSpline ()
	usNeedleInsertionModelRayleighRitzSpline (const usNeedleInsertionModelRayleighRitzSpline &model)
virtual	~usNeedleInsertionModelRayleighRitzSpline ()
const usNeedleInsertionModelRayleighRitzSpline &	operator= (const usNeedleInsertionModelRayleighRitzSpline &model)
virtual usNeedleInsertionModelRayleighRitzSpline *	clone () const
void	loadPreset (const ModelPreset preset)
const usNeedleModelSpline &	accessNeedle () const
usNeedleModelSpline &	accessNeedle ()
usNeedleTip const &	accessNeedleTip () const
usNeedleTip &	accessNeedleTip ()
void	setNeedleTipType (NeedleTipType type)
NeedleTipType	getNeedleTipType () const
const usTissueModelSpline &	accessTissue () const
usTissueModelSpline &	accessTissue ()
bool	addTissueLayer (double K, double l)
bool	setStiffnessPerUnitLength (int i, double K)
bool	setStiffnessPerUnitLength (double K)
double	getStiffnessPerUnitLength (int i=0) const
bool	setLayerLength (int i, double l)
double	getLayerLength (int i) const
int	getNbLayers () const
int	getNbCurrentLayers () const
void	setPathUpdateType (PathUpdateType type)
void	setPathUpdateLengthThreshold (double length)
void	setPathUpdateMixCoefficient (double coef)
void	setSolvingMethod (SolvingMethod method)
bool	IsNeedleInserted () const
double	getNeedleFreeLength (int *seg=nullptr, double *param=nullptr) const
double	getInsertionDepth () const
vpColVector	getNeedleInsertionPoint () const
vpColVector	getTissueInsertionPoint () const
bool	getCorrespondingPathPoint (double l, int &correspondingRestIndex, double &correspondingRestParam) const
double	getTissueDeformationEnergy () const
double	getSurfaceTissueStretch () const
double	getMaxTissueStretch (double *lmax=nullptr) const
double	getMeanTissueStretch () const
double	getCurvatureFromKinematics () const
bool	setBasePose (const vpPoseVector &p)
vpPoseVector	getBasePose () const
void	setSurfaceAtTip ()
bool	cutPathToPoint (const vpColVector &P)
void	solveSegmentsParametersSparseEigen ()
void	solveSegmentsParametersFullSparseEigen ()
void	solveSegmentsParametersFullSparseEigenFixedLength ()
void	solveSegmentsParametersDense ()
void	fitLength ()
void	updateTipPose ()
void	solveSegmentsParameters ()
virtual bool	updateState ()
bool	updatePath ()
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)

Public Attributes
usNeedleModelSpline	m_needle
usNeedleTip *	m_needleTip
NeedleTipType	m_needleTipType
usTissueModelSpline	m_tissue
std::vector< double >	m_stiffnessPerUnitLength
std::vector< double >	m_layerLength
PathUpdateType	m_pathUpdateType
double	m_pathUpdateLengthThreshold
double	m_pathUpdateMixCoefficient
SolvingMethod	m_solvingMethod
std::vector< double >	m_restDilatationFactor

Friends
VISP_EXPORT std::ostream &	operator<< (std::ostream &s, const usNeedleInsertionModelRayleighRitzSpline &model)
VISP_EXPORT std::istream &	operator>> (std::istream &s, usNeedleInsertionModelRayleighRitzSpline &model)
VISP_EXPORT std::ostream &	operator<<= (std::ostream &s, const usNeedleInsertionModelRayleighRitzSpline &model)
VISP_EXPORT std::istream &	operator>>= (std::istream &s, usNeedleInsertionModelRayleighRitzSpline &model)

Detailed Description

Examples

testUsNeedleInsertionModelRayleighRitzSpline.cpp, and testUsNeedleJacobians.cpp.

Definition at line 53 of file usNeedleInsertionModelRayleighRitzSpline.h.

Member Enumeration Documentation

ModelPreset

enum usNeedleInsertionModelRayleighRitzSpline::ModelPreset : int

strong

Enumerator
BiopsyNeedle
BiopsyCannula
Symmetric
AbayazidRRM13
MisraRSRO10_PlastisolA
RoesthuisAM12
SteelSoftTissue
SRL_ActuatedFBG
SRL_BiopsySimple
SRL_BiopsyNID
NDI_Pink_Stylet

Definition at line 56 of file usNeedleInsertionModelRayleighRitzSpline.h.

NeedleTipType

enum usNeedleInsertionModelRayleighRitzSpline::NeedleTipType : int

strong

Enumerator
SymmetricTip
BeveledTip
PrebentTip
ActuatedTip

Definition at line 70 of file usNeedleInsertionModelRayleighRitzSpline.h.

PathUpdateType

enum usNeedleInsertionModelRayleighRitzSpline::PathUpdateType : int

strong

Enumerator
NoUpdate
WithTipPosition
WithTipDirection
WithTipMix

Definition at line 69 of file usNeedleInsertionModelRayleighRitzSpline.h.

SolvingMethod

enum usNeedleInsertionModelRayleighRitzSpline::SolvingMethod : int

strong

Enumerator
Classic
FixedBeamLength
NoBevel

Definition at line 71 of file usNeedleInsertionModelRayleighRitzSpline.h.

Constructor & Destructor Documentation

usNeedleInsertionModelRayleighRitzSpline() [1/2]

usNeedleInsertionModelRayleighRitzSpline::usNeedleInsertionModelRayleighRitzSpline

(

)

Constructors, destructor.

Definition at line 52 of file usNeedleInsertionModelRayleighRitzSpline.cpp.

References m_layerLength, m_stiffnessPerUnitLength, and updateState().

Referenced by clone().

usNeedleInsertionModelRayleighRitzSpline() [2/2]

usNeedleInsertionModelRayleighRitzSpline::usNeedleInsertionModelRayleighRitzSpline

(

const usNeedleInsertionModelRayleighRitzSpline &

model

)

Definition at line 62 of file usNeedleInsertionModelRayleighRitzSpline.cpp.

~usNeedleInsertionModelRayleighRitzSpline()

usNeedleInsertionModelRayleighRitzSpline::~usNeedleInsertionModelRayleighRitzSpline ( )

virtual

Definition at line 75 of file usNeedleInsertionModelRayleighRitzSpline.cpp.

References m_needleTip.

Member Function Documentation

accessNeedle() [1/2]

usNeedleModelSpline & usNeedleInsertionModelRayleighRitzSpline::accessNeedle

(

)

Definition at line 238 of file usNeedleInsertionModelRayleighRitzSpline.cpp.

References m_needle.

accessNeedle() [2/2]

const usNeedleModelSpline & usNeedleInsertionModelRayleighRitzSpline::accessNeedle

(

)

const

Parameters setters and getters.

Needle

Examples

testUsNeedleInsertionModelRayleighRitzSpline.cpp, and testUsNeedleJacobians.cpp.

Definition at line 236 of file usNeedleInsertionModelRayleighRitzSpline.cpp.

References m_needle.

Referenced by usTissueTranslationEstimatorUKF::computeMeasureFromSigmaPoint(), usNeedleModelingDisplayTools::display(), and usNeedleModelingDisplayTools::displayInteraction().

accessNeedleTip() [1/2]

usNeedleTip & usNeedleInsertionModelRayleighRitzSpline::accessNeedleTip

(

)

Definition at line 242 of file usNeedleInsertionModelRayleighRitzSpline.cpp.

References m_needleTip.

accessNeedleTip() [2/2]

usNeedleTip const & usNeedleInsertionModelRayleighRitzSpline::accessNeedleTip

(

)

const

Examples

testUsNeedleInsertionModelRayleighRitzSpline.cpp.

Definition at line 240 of file usNeedleInsertionModelRayleighRitzSpline.cpp.

References m_needleTip.

Referenced by usNeedleModelingDisplayTools::display().

accessTissue() [1/2]

usTissueModelSpline & usNeedleInsertionModelRayleighRitzSpline::accessTissue

(

)

Definition at line 246 of file usNeedleInsertionModelRayleighRitzSpline.cpp.

References m_tissue.

accessTissue() [2/2]

const usTissueModelSpline & usNeedleInsertionModelRayleighRitzSpline::accessTissue

(

)

const

Tissue parameters.

Examples

testUsNeedleInsertionModelRayleighRitzSpline.cpp, and testUsNeedleJacobians.cpp.

Definition at line 244 of file usNeedleInsertionModelRayleighRitzSpline.cpp.

References m_tissue.

Referenced by usTissueTranslationEstimatorUKF::applyStateToNeedle(), usTissueTranslationEstimatorUKF::checkConsistency(), usTissueTranslationEstimatorUKF::computeMeasureFromSigmaPoint(), usTissueTranslationEstimatorUKF::computeProcessNoiseCovarianceMatrix(), usNeedleModelingDisplayTools::display(), usNeedleModelingDisplayTools::displayInteraction(), usNeedleModelingDisplayTools::displayTissueLayers(), and usTissueTranslationEstimatorUKF::setCurrentNeedle().

addTissueLayer()

bool usNeedleInsertionModelRayleighRitzSpline::addTissueLayer	(	double	K,
		double	l
	)

Definition at line 289 of file usNeedleInsertionModelRayleighRitzSpline.cpp.

References m_layerLength, and m_stiffnessPerUnitLength.

clone()

usNeedleInsertionModelRayleighRitzSpline * usNeedleInsertionModelRayleighRitzSpline::clone ( ) const

virtual

Definition at line 103 of file usNeedleInsertionModelRayleighRitzSpline.cpp.

References usNeedleInsertionModelRayleighRitzSpline().

cutPathToPoint()

bool usNeedleInsertionModelRayleighRitzSpline::cutPathToPoint

(

const vpColVector &

P

)

Definition at line 712 of file usNeedleInsertionModelRayleighRitzSpline.cpp.

References usBSpline3D::accessLastSegment(), usTissueModelSpline::accessPath(), usTissueModelSpline::accessSurface(), usBSpline3D::addSegment(), usNeedleModelBaseTip::getBasePosition(), usPolynomialCurve3D::getEndPoint(), usNeedleModelSpline::getFullLength(), usBSpline3D::getNbSegments(), usNeedleModelBaseTip::getTipDirection(), usGeometryTools::IsPointInFrontOfPlane(), m_needle, m_pathUpdateLengthThreshold, m_tissue, usGeometryTools::projectPointOnPlane(), usPolynomialCurve3D::setParametricLength(), and usPolynomialCurve3D::setPolynomialCoefficients().

Referenced by updatePath().

fitLength()

void usNeedleInsertionModelRayleighRitzSpline::fitLength

(

)

Definition at line 2346 of file usNeedleInsertionModelRayleighRitzSpline.cpp.

References usBSpline3D::accessLastSegment(), usBSpline3D::accessSegment(), usPolynomialCurve3D::changeCoefficientsToFitBoundaries(), usNeedleModelSpline::getFullLength(), usPolynomialCurve3D::getLength(), usBSpline3D::getNbSegments(), m_needle, usBSpline3D::removeSegments(), and usPolynomialCurve3D::setParametricLength().

Referenced by updateState().

getBasePose()

vpPoseVector usNeedleInsertionModelRayleighRitzSpline::getBasePose ( ) const

virtual

Implements usNeedleInsertionModelInterface.

Definition at line 701 of file usNeedleInsertionModelRayleighRitzSpline.cpp.

References usNeedleModelBaseTip::getBasePose(), and m_needle.

getBasePosition()

vpColVector usNeedleInsertionModelInterface::getBasePosition ( ) const

inherited

Definition at line 51 of file usNeedleInsertionModelInterface.cpp.

References usNeedleInsertionModelInterface::getBasePose().

getCorrespondingPathPoint()

bool usNeedleInsertionModelRayleighRitzSpline::getCorrespondingPathPoint	(	double	l,
		int &	correspondingRestIndex,
		double &	correspondingRestParam
	)		const

Definition at line 438 of file usNeedleInsertionModelRayleighRitzSpline.cpp.

References usTissueModelSpline::accessPath(), usBSpline3D::accessSegment(), usBSpline3D::getNbSegments(), getNeedleFreeLength(), usPolynomialCurve3D::getParametricLength(), m_needle, m_restDilatationFactor, and m_tissue.

Referenced by usNeedleModelingDisplayTools::displayInteraction(), getMaxTissueStretch(), getMeanTissueStretch(), getTissueDeformationEnergy(), and updatePath().

getCurvatureFromKinematics()

double usNeedleInsertionModelRayleighRitzSpline::getCurvatureFromKinematics

(

)

const

Curvature.

getInsertionDepth()

double usNeedleInsertionModelRayleighRitzSpline::getInsertionDepth

(

)

const

Definition at line 415 of file usNeedleInsertionModelRayleighRitzSpline.cpp.

References usNeedleModelSpline::getFullLength(), getNeedleFreeLength(), and m_needle.

Referenced by getNbCurrentLayers(), and updateState().

getLayerLength()

double usNeedleInsertionModelRayleighRitzSpline::getLayerLength

(

int

i

)

const

Definition at line 329 of file usNeedleInsertionModelRayleighRitzSpline.cpp.

References m_layerLength.

Referenced by usNeedleModelingDisplayTools::displayTissueLayers().

getMaxTissueStretch()

double usNeedleInsertionModelRayleighRitzSpline::getMaxTissueStretch

(

double *

lmax = nullptr

)

const

Definition at line 556 of file usNeedleInsertionModelRayleighRitzSpline.cpp.

References usTissueModelSpline::accessPath(), usBSpline3D::accessSegment(), getCorrespondingPathPoint(), usBSpline3D::getNbSegments(), getNeedleFreeLength(), usPolynomialCurve3D::getParametricLength(), usPolynomialCurve3D::getPoint(), IsNeedleInserted(), m_needle, and m_tissue.

getMeanTissueStretch()

double usNeedleInsertionModelRayleighRitzSpline::getMeanTissueStretch

(

)

const

Definition at line 626 of file usNeedleInsertionModelRayleighRitzSpline.cpp.

References usTissueModelSpline::accessPath(), usBSpline3D::accessSegment(), getCorrespondingPathPoint(), usBSpline3D::getNbSegments(), getNeedleFreeLength(), usPolynomialCurve3D::getParametricLength(), usPolynomialCurve3D::getPoint(), IsNeedleInserted(), m_needle, and m_tissue.

getNbCurrentLayers()

int usNeedleInsertionModelRayleighRitzSpline::getNbCurrentLayers

(

)

const

Definition at line 333 of file usNeedleInsertionModelRayleighRitzSpline.cpp.

References getInsertionDepth(), getNbLayers(), and m_layerLength.

getNbLayers()

int usNeedleInsertionModelRayleighRitzSpline::getNbLayers

(

)

const

Definition at line 331 of file usNeedleInsertionModelRayleighRitzSpline.cpp.

References m_layerLength.

Referenced by usNeedleModelingDisplayTools::displayTissueLayers(), and getNbCurrentLayers().

getNeedleFreeLength()

double usNeedleInsertionModelRayleighRitzSpline::getNeedleFreeLength	(	int *	seg = nullptr,
		double *	param = nullptr
	)		const

Definition at line 363 of file usNeedleInsertionModelRayleighRitzSpline.cpp.

References usBSpline3D::accessSegment(), usTissueModelSpline::accessSurface(), usGeometryTools::DoesSegmentCrossPlane(), usPolynomialCurve3D::getEndPoint(), usBSpline3D::getNbSegments(), usPolynomialCurve3D::getParametricLength(), usGeometryTools::getPlaneCurveCrossingPoint(), usPolynomialCurve3D::getStartPoint(), IsNeedleInserted(), usGeometryTools::IsPointInFrontOfPlane(), m_needle, and m_tissue.

Referenced by usNeedleModelingDisplayTools::displayInteraction(), getCorrespondingPathPoint(), getInsertionDepth(), getMaxTissueStretch(), getMeanTissueStretch(), getTissueDeformationEnergy(), and updateState().

getNeedleInsertionPoint()

vpColVector usNeedleInsertionModelRayleighRitzSpline::getNeedleInsertionPoint

(

)

const

Definition at line 420 of file usNeedleInsertionModelRayleighRitzSpline.cpp.

References usTissueModelSpline::accessSurface(), usBSpline3D::getPoint(), IsNeedleInserted(), m_needle, m_tissue, and usGeometryTools::projectPointOnPlane().

Referenced by getSurfaceTissueStretch().

getNeedleTipType()

usNeedleInsertionModelRayleighRitzSpline::NeedleTipType usNeedleInsertionModelRayleighRitzSpline::getNeedleTipType

(

)

const

Definition at line 284 of file usNeedleInsertionModelRayleighRitzSpline.cpp.

References m_needleTipType.

Referenced by usNeedleModelingDisplayTools::display().

getStiffnessPerUnitLength()

double usNeedleInsertionModelRayleighRitzSpline::getStiffnessPerUnitLength

(

int

i = 0

)

const

Definition at line 316 of file usNeedleInsertionModelRayleighRitzSpline.cpp.

References m_stiffnessPerUnitLength.

getSurfaceTissueStretch()

double usNeedleInsertionModelRayleighRitzSpline::getSurfaceTissueStretch

(

)

const

Definition at line 548 of file usNeedleInsertionModelRayleighRitzSpline.cpp.

References usTissueModelSpline::accessPath(), usBSpline3D::getNbSegments(), getNeedleInsertionPoint(), getTissueInsertionPoint(), IsNeedleInserted(), and m_tissue.

getTissueDeformationEnergy()

double usNeedleInsertionModelRayleighRitzSpline::getTissueDeformationEnergy

(

)

const

Measure model information.

Tissue deformation energy

Definition at line 492 of file usNeedleInsertionModelRayleighRitzSpline.cpp.

References usTissueModelSpline::accessPath(), usBSpline3D::accessSegment(), getCorrespondingPathPoint(), usBSpline3D::getNbSegments(), getNeedleFreeLength(), usPolynomialCurve3D::getParametricLength(), usPolynomialCurve3D::getPoint(), m_layerLength, m_needle, m_stiffnessPerUnitLength, and m_tissue.

getTissueInsertionPoint()

vpColVector usNeedleInsertionModelRayleighRitzSpline::getTissueInsertionPoint

(

)

const

Definition at line 429 of file usNeedleInsertionModelRayleighRitzSpline.cpp.

References usTissueModelSpline::accessPath(), usBSpline3D::getNbSegments(), usBSpline3D::getPoint(), and m_tissue.

Referenced by getSurfaceTissueStretch().

getWorldMbase()

vpHomogeneousMatrix usNeedleInsertionModelInterface::getWorldMbase ( ) const

inherited

Definition at line 56 of file usNeedleInsertionModelInterface.cpp.

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

IsNeedleInserted()

bool usNeedleInsertionModelRayleighRitzSpline::IsNeedleInserted

(

)

const

Model parameters.

Needle

Definition at line 358 of file usNeedleInsertionModelRayleighRitzSpline.cpp.

References usTissueModelSpline::accessSurface(), usNeedleModelBaseTip::getTipPosition(), usGeometryTools::IsPointInFrontOfPlane(), m_needle, and m_tissue.

Referenced by usTissueTranslationEstimatorUKF::checkConsistency(), getMaxTissueStretch(), getMeanTissueStretch(), getNeedleFreeLength(), getNeedleInsertionPoint(), getSurfaceTissueStretch(), and updateState().

loadPreset()

void usNeedleInsertionModelRayleighRitzSpline::loadPreset

(

const ModelPreset

preset

)

Parameters saving and loading.

Examples

testUsNeedleInsertionModelRayleighRitzSpline.cpp, and testUsNeedleJacobians.cpp.

Definition at line 108 of file usNeedleInsertionModelRayleighRitzSpline.cpp.

References AbayazidRRM13, usNeedleModelSpline::AbayazidRRM13, ActuatedTip, BeveledTip, BiopsyCannula, usNeedleModelSpline::BiopsyCannula, BiopsyNeedle, usNeedleModelSpline::BiopsyNeedle, usNeedleModelSpline::getOuterDiameter(), usNeedleModelSpline::loadPreset(), m_needle, m_needleTip, m_stiffnessPerUnitLength, MisraRSRO10_PlastisolA, usNeedleModelSpline::MisraRSRO10_PlastisolA, NDI_Pink_Stylet, usNeedleModelSpline::NDI_Pink_Stylet, RoesthuisAM12, usNeedleModelSpline::RoesthuisAM12, usNeedleTipActuated::setDiameter(), usNeedleTipBeveled::setDiameter(), usNeedleTipSymmetric::setDiameter(), usNeedleTipActuated::setLength(), usNeedleTipBeveled::setLength(), usNeedleTipSymmetric::setLength(), setNeedleTipType(), usNeedleTipActuated::setSteeringAngleRad(), setStiffnessPerUnitLength(), usNeedleTipActuated::setTipAngleRad(), SRL_ActuatedFBG, usNeedleModelSpline::SRL_ActuatedFBG, SRL_BiopsyNID, usNeedleModelSpline::SRL_BiopsyNID, SRL_BiopsySimple, usNeedleModelSpline::SRL_BiopsySimple, SteelSoftTissue, usNeedleModelSpline::SteelSoftTissue, Symmetric, usNeedleModelSpline::Symmetric, and SymmetricTip.

moveBase() [1/5]

bool usNeedleInsertionModelInterface::moveBase ( const vpColVector &  v )

inherited

Definition at line 89 of file usNeedleInsertionModelInterface.cpp.

References usNeedleInsertionModelInterface::moveBase().

moveBase() [2/5]

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(), usNeedleInsertionModelKinematic::moveBase(), and usNeedleInsertionModelInterface::moveBaseWorldFrame().

moveBase() [3/5]

bool usNeedleInsertionModelInterface::moveBase ( const vpHomogeneousMatrix &  Hmotion )

inherited

Definition at line 98 of file usNeedleInsertionModelInterface.cpp.

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

moveBase() [4/5]

bool usNeedleInsertionModelInterface::moveBase ( const vpPoseVector &  pose )

inherited

Definition at line 84 of file usNeedleInsertionModelInterface.cpp.

References usNeedleInsertionModelInterface::moveBase().

moveBase() [5/5]

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().

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=()

const usNeedleInsertionModelRayleighRitzSpline & usNeedleInsertionModelRayleighRitzSpline::operator=

(

const usNeedleInsertionModelRayleighRitzSpline &

model

)

Definition at line 81 of file usNeedleInsertionModelRayleighRitzSpline.cpp.

References usNeedleTip::clone(), m_layerLength, m_needle, m_needleTip, m_needleTipType, m_pathUpdateLengthThreshold, m_pathUpdateMixCoefficient, m_pathUpdateType, m_restDilatationFactor, m_solvingMethod, m_stiffnessPerUnitLength, and m_tissue.

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

Control of the needle.

Definition at line 51 of file usNeedleInsertionModelInterface.cpp.

setBasePose() [3/6]

bool usNeedleInsertionModelRayleighRitzSpline::setBasePose ( const vpPoseVector &  pose )

virtual

The following methods should be redefined in the derived classes.

Implements usNeedleInsertionModelInterface.

Examples

testUsNeedleInsertionModelRayleighRitzSpline.cpp, and testUsNeedleJacobians.cpp.

Definition at line 684 of file usNeedleInsertionModelRayleighRitzSpline.cpp.

References usTissueModelSpline::accessSurface(), usOrientedPlane3D::getDirection(), usGeometryTools::IsPointInFrontOfPlane(), m_needle, m_tissue, usNeedleModelBaseTip::setBasePose(), and updateState().

setBasePose() [4/6]

virtual bool usNeedleInsertionModelInterface::setBasePose

Control of the needle.

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

Control of the needle.

Definition at line 50 of file usNeedleInsertionModelInterface.cpp.

setLayerLength()

bool usNeedleInsertionModelRayleighRitzSpline::setLayerLength	(	int	i,
		double	l
	)

Definition at line 321 of file usNeedleInsertionModelRayleighRitzSpline.cpp.

References m_layerLength.

setNeedleTipType()

void usNeedleInsertionModelRayleighRitzSpline::setNeedleTipType

(

NeedleTipType

type

)

Examples

testUsNeedleInsertionModelRayleighRitzSpline.cpp.

Definition at line 248 of file usNeedleInsertionModelRayleighRitzSpline.cpp.

References ActuatedTip, BeveledTip, usNeedleTip::getBasePose(), m_needleTip, m_needleTipType, PrebentTip, usNeedleTip::setBasePose(), and SymmetricTip.

Referenced by loadPreset().

setPathUpdateLengthThreshold()

void usNeedleInsertionModelRayleighRitzSpline::setPathUpdateLengthThreshold

(

double

length

)

Examples

testUsNeedleInsertionModelRayleighRitzSpline.cpp.

Definition at line 346 of file usNeedleInsertionModelRayleighRitzSpline.cpp.

References m_pathUpdateLengthThreshold.

setPathUpdateMixCoefficient()

void usNeedleInsertionModelRayleighRitzSpline::setPathUpdateMixCoefficient

(

double

coef

)

Definition at line 351 of file usNeedleInsertionModelRayleighRitzSpline.cpp.

References m_pathUpdateMixCoefficient.

setPathUpdateType()

void usNeedleInsertionModelRayleighRitzSpline::setPathUpdateType

(

PathUpdateType

type

)

Model behavior.

Examples

testUsNeedleInsertionModelRayleighRitzSpline.cpp, and testUsNeedleJacobians.cpp.

Definition at line 344 of file usNeedleInsertionModelRayleighRitzSpline.cpp.

References m_pathUpdateType.

setSolvingMethod()

void usNeedleInsertionModelRayleighRitzSpline::setSolvingMethod

(

SolvingMethod

method

)

Examples

testUsNeedleInsertionModelRayleighRitzSpline.cpp.

Definition at line 356 of file usNeedleInsertionModelRayleighRitzSpline.cpp.

References m_solvingMethod.

setStiffnessPerUnitLength() [1/2]

bool usNeedleInsertionModelRayleighRitzSpline::setStiffnessPerUnitLength

(

double

K

)

Definition at line 307 of file usNeedleInsertionModelRayleighRitzSpline.cpp.

References m_stiffnessPerUnitLength.

setStiffnessPerUnitLength() [2/2]

bool usNeedleInsertionModelRayleighRitzSpline::setStiffnessPerUnitLength	(	int	i,
		double	K
	)

Examples

testUsNeedleInsertionModelRayleighRitzSpline.cpp.

Definition at line 299 of file usNeedleInsertionModelRayleighRitzSpline.cpp.

References m_stiffnessPerUnitLength.

Referenced by loadPreset().

setSurfaceAtTip()

void usNeedleInsertionModelRayleighRitzSpline::setSurfaceAtTip

(

)

Control of the tissue.

Examples

testUsNeedleJacobians.cpp.

Definition at line 703 of file usNeedleInsertionModelRayleighRitzSpline.cpp.

References usTissueModelSpline::accessSurface(), usNeedleModelBaseTip::getTipPose(), usNeedleTip::getTipPosition(), m_needle, m_needleTip, m_tissue, and usOrientedPlane3D::setPose().

solveSegmentsParameters()

void usNeedleInsertionModelRayleighRitzSpline::solveSegmentsParameters

(

)

Definition at line 2392 of file usNeedleInsertionModelRayleighRitzSpline.cpp.

References Classic, FixedBeamLength, m_solvingMethod, NoBevel, solveSegmentsParametersDense(), solveSegmentsParametersFullSparseEigen(), solveSegmentsParametersFullSparseEigenFixedLength(), and solveSegmentsParametersSparseEigen().

Referenced by updateState().

solveSegmentsParametersDense()

void usNeedleInsertionModelRayleighRitzSpline::solveSegmentsParametersDense

(

)

Definition at line 1923 of file usNeedleInsertionModelRayleighRitzSpline.cpp.

References usBSpline3D::accessLastSegment(), usTissueModelSpline::accessPath(), usBSpline3D::accessSegment(), usTissueModelSpline::accessSurface(), usBSpline3D::addSegment(), usPolynomialCurve3D::changeCoefficientsToFitBoundaries(), usGeometryTools::DoesSegmentCrossPlane(), usNeedleTip::getBaseAxisZ(), usNeedleModelBaseTip::getBasePose(), usNeedleTip::getBasePosition(), usOrientedPlane3D::getDirection(), usNeedleModelSpline::getEI(), usNeedleModelSpline::getFullLength(), usPolynomialCurve3D::getLength(), usBSpline3D::getNbSegments(), usPolynomialCurve3D::getOrder(), usBSpline3D::getParametersFromLength(), usPolynomialCurve3D::getParametricLength(), usGeometryTools::getPlaneCurveCrossingPoint(), usGeometryTools::getPointPlaneDistance(), usPolynomialCurve3D::getPolynomialCoefficients(), usPolynomialCurve3D::getSubPolynomialCurve(), usNeedleTip::getTipPosition(), usNeedleModelBaseTip::getWorldMbase(), usNeedleModelSpline::init(), usGeometryTools::IsPointInFrontOfPlane(), m_layerLength, m_needle, m_needleTip, m_restDilatationFactor, m_stiffnessPerUnitLength, m_tissue, usBSpline3D::removeLastSegment(), usPolynomialCurve3D::setParametricLength(), usPolynomialCurve3D::setPolynomialCoefficients(), and usBSpline3D::setSegment().

Referenced by solveSegmentsParameters().

solveSegmentsParametersFullSparseEigen()

void usNeedleInsertionModelRayleighRitzSpline::solveSegmentsParametersFullSparseEigen

(

)

Definition at line 1045 of file usNeedleInsertionModelRayleighRitzSpline.cpp.

References usBSpline3D::accessLastSegment(), usTissueModelSpline::accessPath(), usBSpline3D::accessSegment(), usTissueModelSpline::accessSurface(), usBSpline3D::addSegment(), usPolynomialCurve3D::changeCoefficientsToFitBoundaries(), usGeometryTools::DoesSegmentCrossPlane(), usNeedleTip::getBaseAxisZ(), usNeedleModelBaseTip::getBasePose(), usNeedleTip::getBasePosition(), usOrientedPlane3D::getDirection(), usNeedleModelSpline::getEI(), usNeedleModelSpline::getFullLength(), usPolynomialCurve3D::getLength(), usBSpline3D::getNbSegments(), usPolynomialCurve3D::getOrder(), usBSpline3D::getParametersFromLength(), usPolynomialCurve3D::getParametricLength(), usGeometryTools::getPlaneCurveCrossingPoint(), usGeometryTools::getPointPlaneDistance(), usPolynomialCurve3D::getPolynomialCoefficients(), usPolynomialCurve3D::getSubPolynomialCurve(), usNeedleTip::getTipPosition(), usNeedleModelBaseTip::getWorldMbase(), usNeedleModelSpline::init(), usGeometryTools::IsPointInFrontOfPlane(), m_layerLength, m_needle, m_needleTip, m_restDilatationFactor, m_stiffnessPerUnitLength, m_tissue, usBSpline3D::removeLastSegment(), usPolynomialCurve3D::setParametricLength(), usPolynomialCurve3D::setPolynomialCoefficients(), and usBSpline3D::setSegment().

Referenced by solveSegmentsParameters().

solveSegmentsParametersFullSparseEigenFixedLength()

void usNeedleInsertionModelRayleighRitzSpline::solveSegmentsParametersFullSparseEigenFixedLength

(

)

Definition at line 1484 of file usNeedleInsertionModelRayleighRitzSpline.cpp.

References usBSpline3D::accessLastSegment(), usTissueModelSpline::accessPath(), usBSpline3D::accessSegment(), usTissueModelSpline::accessSurface(), usBSpline3D::addSegment(), usPolynomialCurve3D::changeCoefficientsToFitBoundaries(), usGeometryTools::DoesSegmentCrossPlane(), usNeedleTip::getBaseAxisZ(), usNeedleModelBaseTip::getBasePose(), usNeedleTip::getBasePosition(), usOrientedPlane3D::getDirection(), usNeedleModelSpline::getEI(), usNeedleModelSpline::getFullLength(), usPolynomialCurve3D::getLength(), usBSpline3D::getNbSegments(), usPolynomialCurve3D::getOrder(), usBSpline3D::getParametersFromLength(), usPolynomialCurve3D::getParametricLength(), usGeometryTools::getPlaneCurveCrossingPoint(), usGeometryTools::getPointPlaneDistance(), usPolynomialCurve3D::getPolynomialCoefficients(), usPolynomialCurve3D::getSubPolynomialCurve(), usNeedleTip::getTipPosition(), usNeedleModelBaseTip::getWorldMbase(), usNeedleModelSpline::init(), usGeometryTools::IsPointInFrontOfPlane(), m_layerLength, m_needle, m_needleTip, m_restDilatationFactor, m_stiffnessPerUnitLength, m_tissue, usBSpline3D::removeLastSegment(), usPolynomialCurve3D::setParametricLength(), usPolynomialCurve3D::setPolynomialCoefficients(), and usBSpline3D::setSegment().

Referenced by solveSegmentsParameters().

solveSegmentsParametersSparseEigen()

void usNeedleInsertionModelRayleighRitzSpline::solveSegmentsParametersSparseEigen

(

)

Internal model command.

Definition at line 750 of file usNeedleInsertionModelRayleighRitzSpline.cpp.

References usBSpline3D::accessLastSegment(), usTissueModelSpline::accessPath(), usBSpline3D::accessSegment(), usTissueModelSpline::accessSurface(), usBSpline3D::addSegment(), usPolynomialCurve3D::changeCoefficientsToFitBoundaries(), usGeometryTools::DoesSegmentCrossPlane(), usNeedleModelBaseTip::getBasePose(), usOrientedPlane3D::getDirection(), usNeedleModelSpline::getEI(), usNeedleModelSpline::getFullLength(), usPolynomialCurve3D::getLength(), usBSpline3D::getNbSegments(), usPolynomialCurve3D::getOrder(), usBSpline3D::getParametersFromLength(), usPolynomialCurve3D::getParametricLength(), usGeometryTools::getPlaneCurveCrossingPoint(), usGeometryTools::getPointPlaneDistance(), usPolynomialCurve3D::getPolynomialCoefficients(), usPolynomialCurve3D::getSubPolynomialCurve(), usNeedleModelBaseTip::getWorldMbase(), usNeedleModelSpline::init(), m_layerLength, m_needle, m_restDilatationFactor, m_stiffnessPerUnitLength, m_tissue, usBSpline3D::removeLastSegment(), usPolynomialCurve3D::setParametricLength(), usPolynomialCurve3D::setPolynomialCoefficients(), and usBSpline3D::setSegment().

Referenced by solveSegmentsParameters().

updatePath()

bool usNeedleInsertionModelRayleighRitzSpline::updatePath

(

)

Definition at line 2458 of file usNeedleInsertionModelRayleighRitzSpline.cpp.

References usBSpline3D::accessLastSegment(), usTissueModelSpline::accessPath(), usBSpline3D::accessSegment(), usTissueModelSpline::accessSurface(), usBSpline3D::addSegment(), cutPathToPoint(), usNeedleTip::getBasePosition(), getCorrespondingPathPoint(), usPolynomialCurve3D::getEndPoint(), usPolynomialCurve3D::getEndTangent(), usNeedleModelSpline::getFullLength(), usBSpline3D::getNbSegments(), usPolynomialCurve3D::getParametricLength(), usNeedleTip::getTipDirection(), usNeedleTip::getTipPosition(), usGeometryTools::IsPointInFrontOfPlane(), m_needle, m_needleTip, m_pathUpdateLengthThreshold, m_pathUpdateMixCoefficient, m_pathUpdateType, m_tissue, NoUpdate, usGeometryTools::projectPointOnPlane(), usPolynomialCurve3D::setParametricLength(), usPolynomialCurve3D::setPolynomialCoefficients(), WithTipDirection, WithTipMix, and WithTipPosition.

Referenced by updateState().

updateState()

bool usNeedleInsertionModelRayleighRitzSpline::updateState ( )

virtual

Examples

testUsNeedleInsertionModelRayleighRitzSpline.cpp.

Definition at line 2411 of file usNeedleInsertionModelRayleighRitzSpline.cpp.

References usBSpline3D::accessLastSegment(), usTissueModelSpline::accessPath(), usGeometryTools::DoesSegmentCrossPlaneDirect(), fitLength(), usPolynomialCurve3D::getEndPoint(), usPolynomialCurve3D::getEndTangent(), getInsertionDepth(), usBSpline3D::getNbSegments(), getNeedleFreeLength(), usNeedleModelSpline::getOuterDiameter(), usBSpline3D::getParametricLength(), usGeometryTools::getPlaneCurveCrossingPoint(), IsNeedleInserted(), m_needle, m_restDilatationFactor, m_tissue, usOrientedPlane3D::setPosition(), solveSegmentsParameters(), updatePath(), and updateTipPose().

Referenced by usTissueTranslationEstimatorUKF::computeMeasureFromSigmaPoint(), setBasePose(), and usNeedleInsertionModelRayleighRitzSpline().

updateTipPose()

void usNeedleInsertionModelRayleighRitzSpline::updateTipPose

(

)

Definition at line 2370 of file usNeedleInsertionModelRayleighRitzSpline.cpp.

References usBSpline3D::accessLastSegment(), usBSpline3D::accessSegment(), usPolynomialCurve3D::getEndPoint(), usPolynomialCurve3D::getEndTangent(), usPolynomialCurve3D::getStartTangent(), usNeedleModelBaseTip::getWorldMbase(), m_needle, m_needleTip, usNeedleTip::setBasePose(), and usNeedleModelBaseTip::setTipPose().

Referenced by updateState().

Friends And Related Function Documentation

operator<<

VISP_EXPORT std::ostream& operator<< ( std::ostream &  s, const usNeedleInsertionModelRayleighRitzSpline &  model  )

friend

Data saving.

Text

Definition at line 2557 of file usNeedleInsertionModelRayleighRitzSpline.cpp.

operator<<=

VISP_EXPORT std::ostream& operator<<= ( std::ostream &  s, const usNeedleInsertionModelRayleighRitzSpline &  model  )

friend

Binary.

Definition at line 2659 of file usNeedleInsertionModelRayleighRitzSpline.cpp.

operator>>

VISP_EXPORT std::istream& operator>> ( std::istream &  s, usNeedleInsertionModelRayleighRitzSpline &  model  )

friend

Definition at line 2605 of file usNeedleInsertionModelRayleighRitzSpline.cpp.

operator>>=

VISP_EXPORT std::istream& operator>>= ( std::istream &  s, usNeedleInsertionModelRayleighRitzSpline &  model  )

friend

Definition at line 2712 of file usNeedleInsertionModelRayleighRitzSpline.cpp.

Member Data Documentation

m_layerLength

std::vector<double> usNeedleInsertionModelRayleighRitzSpline::m_layerLength

Definition at line 87 of file usNeedleInsertionModelRayleighRitzSpline.h.

Referenced by addTissueLayer(), getLayerLength(), getNbCurrentLayers(), getNbLayers(), getTissueDeformationEnergy(), operator=(), setLayerLength(), solveSegmentsParametersDense(), solveSegmentsParametersFullSparseEigen(), solveSegmentsParametersFullSparseEigenFixedLength(), solveSegmentsParametersSparseEigen(), and usNeedleInsertionModelRayleighRitzSpline().

m_needle

usNeedleModelSpline usNeedleInsertionModelRayleighRitzSpline::m_needle

Model Parameters.

Needle

Definition at line 78 of file usNeedleInsertionModelRayleighRitzSpline.h.

Referenced by accessNeedle(), cutPathToPoint(), fitLength(), getBasePose(), getCorrespondingPathPoint(), getInsertionDepth(), getMaxTissueStretch(), getMeanTissueStretch(), getNeedleFreeLength(), getNeedleInsertionPoint(), getTissueDeformationEnergy(), IsNeedleInserted(), loadPreset(), operator=(), setBasePose(), setSurfaceAtTip(), solveSegmentsParametersDense(), solveSegmentsParametersFullSparseEigen(), solveSegmentsParametersFullSparseEigenFixedLength(), solveSegmentsParametersSparseEigen(), updatePath(), updateState(), and updateTipPose().

m_needleTip

usNeedleTip* usNeedleInsertionModelRayleighRitzSpline::m_needleTip

Definition at line 80 of file usNeedleInsertionModelRayleighRitzSpline.h.

Referenced by accessNeedleTip(), loadPreset(), operator=(), setNeedleTipType(), setSurfaceAtTip(), solveSegmentsParametersDense(), solveSegmentsParametersFullSparseEigen(), solveSegmentsParametersFullSparseEigenFixedLength(), updatePath(), updateTipPose(), and ~usNeedleInsertionModelRayleighRitzSpline().

m_needleTipType

NeedleTipType usNeedleInsertionModelRayleighRitzSpline::m_needleTipType

Definition at line 81 of file usNeedleInsertionModelRayleighRitzSpline.h.

Referenced by getNeedleTipType(), operator=(), and setNeedleTipType().

m_pathUpdateLengthThreshold

double usNeedleInsertionModelRayleighRitzSpline::m_pathUpdateLengthThreshold

Definition at line 92 of file usNeedleInsertionModelRayleighRitzSpline.h.

Referenced by cutPathToPoint(), operator=(), setPathUpdateLengthThreshold(), and updatePath().

m_pathUpdateMixCoefficient

double usNeedleInsertionModelRayleighRitzSpline::m_pathUpdateMixCoefficient

Definition at line 94 of file usNeedleInsertionModelRayleighRitzSpline.h.

Referenced by operator=(), setPathUpdateMixCoefficient(), and updatePath().

m_pathUpdateType

PathUpdateType usNeedleInsertionModelRayleighRitzSpline::m_pathUpdateType

Path update.

Definition at line 91 of file usNeedleInsertionModelRayleighRitzSpline.h.

Referenced by operator=(), setPathUpdateType(), and updatePath().

m_restDilatationFactor

std::vector<double> usNeedleInsertionModelRayleighRitzSpline::m_restDilatationFactor

Definition at line 102 of file usNeedleInsertionModelRayleighRitzSpline.h.

Referenced by getCorrespondingPathPoint(), operator=(), solveSegmentsParametersDense(), solveSegmentsParametersFullSparseEigen(), solveSegmentsParametersFullSparseEigenFixedLength(), solveSegmentsParametersSparseEigen(), and updateState().

m_solvingMethod

SolvingMethod usNeedleInsertionModelRayleighRitzSpline::m_solvingMethod

Internal.

Linear system solving

Definition at line 101 of file usNeedleInsertionModelRayleighRitzSpline.h.

Referenced by operator=(), setSolvingMethod(), and solveSegmentsParameters().

m_stiffnessPerUnitLength

std::vector<double> usNeedleInsertionModelRayleighRitzSpline::m_stiffnessPerUnitLength

Definition at line 86 of file usNeedleInsertionModelRayleighRitzSpline.h.

Referenced by addTissueLayer(), getStiffnessPerUnitLength(), getTissueDeformationEnergy(), loadPreset(), operator=(), setStiffnessPerUnitLength(), solveSegmentsParametersDense(), solveSegmentsParametersFullSparseEigen(), solveSegmentsParametersFullSparseEigenFixedLength(), solveSegmentsParametersSparseEigen(), and usNeedleInsertionModelRayleighRitzSpline().

m_tissue

usTissueModelSpline usNeedleInsertionModelRayleighRitzSpline::m_tissue

Tissue.

Definition at line 85 of file usNeedleInsertionModelRayleighRitzSpline.h.

Referenced by accessTissue(), cutPathToPoint(), getCorrespondingPathPoint(), getMaxTissueStretch(), getMeanTissueStretch(), getNeedleFreeLength(), getNeedleInsertionPoint(), getSurfaceTissueStretch(), getTissueDeformationEnergy(), getTissueInsertionPoint(), IsNeedleInserted(), operator=(), setBasePose(), setSurfaceAtTip(), solveSegmentsParametersDense(), solveSegmentsParametersFullSparseEigen(), solveSegmentsParametersFullSparseEigenFixedLength(), solveSegmentsParametersSparseEigen(), updatePath(), and updateState().