UsTK : Ultrasound ToolKit  version 2.0.1 under development (2023-12-07)
Public Types | Public Member Functions | Protected Attributes | Friends | List of all members
usNeedleInsertionModelVirtualSprings Class Reference

#include <visp3/ustk_needle_modeling/usNeedleInsertionModelVirtualSprings.h>

+ Inheritance diagram for usNeedleInsertionModelVirtualSprings:

Public Types

enum class  InsertionType : int { ForceInsert , ForceRemove , NaturalBehavior }
 
enum class  ModelPreset : int {
  BiopsyNeedle , BiopsyCannula , AbayazidRRM13 , MisraRSRO10_PlastisolA ,
  RoesthuisAM12 , SteelSoftTissue , SRL_BiopsyNID , NDI_Pink_Stylet
}
 

Public Member Functions

 usNeedleInsertionModelVirtualSprings ()
 
 usNeedleInsertionModelVirtualSprings (const usNeedleInsertionModelVirtualSprings &needle)
 
virtual ~usNeedleInsertionModelVirtualSprings ()
 
const usNeedleInsertionModelVirtualSprings & operator= (const usNeedleInsertionModelVirtualSprings &needle)
 
virtual usNeedleInsertionModelVirtualSprings * clone () const
 
void loadPreset (const ModelPreset preset)
 
void setTipForce (double tipForce)
 
double getTipForce ()
 
void setBevelAngle (double angle)
 
double getBevelAngle () const
 
void setDefaultSpringStiffness (double K)
 
double getDefaultSpringStiffness () const
 
void setStiffnessPerUnitLength (double K)
 
double getStiffnessPerUnitLength () const
 
int getNbSprings () const
 
int getNbMeasureSprings () const
 
const usNeedleModelSpline & accessNeedle () const
 
usNeedleModelSpline & accessNeedle ()
 
bool IsNeedleInserted () const
 
vpColVector getNeedleInsertionPoint () const
 
vpColVector getTissueInsertionPoint () const
 
double getNeedleFreeLength () const
 
double getInsertionDepth () const
 
const usOrientedPlane3D & accessSurface () const
 
usOrientedPlane3D & accessSurface ()
 
const usVirtualSpring & accessSpring (int i) const
 
void setInterSpringDistance (double interSpringDistance)
 
double getInterSpringDistance () const
 
void setInterTipSpringDistance (double interTipSpringDistance)
 
double getInterTipSpringDistance () const
 
void setNbMinTipSprings (int nb)
 
int getNbMinTipSprings () const
 
void setNbMaxTipSprings (int nb)
 
int getNbMaxTipSprings () const
 
void AllowSpringAddition (bool flag)
 
void AllowSpringRemoval (bool flag)
 
void setInsertionBehavior (InsertionType type)
 
InsertionType getInsertionBehavior () const
 
void setAutomaticSpringAddition (bool flag)
 
bool getAutomaticSpringAddition () const
 
double getPathDistanceFromPoint (const vpColVector &P) const
 
double getTissueDeformationEnergy () const
 
double getSurfaceTissueStretch () const
 
double getMaxTissueStretch (double *lmax=nullptr) const
 
double getMeanTissueStretch () const
 
bool setBasePose (const vpPoseVector &p)
 
vpPoseVector getBasePose () const
 
void addMeasureSpring (const vpColVector &p, const vpColVector &d)
 
bool setSpringPosition (int index, const vpColVector &P, bool update=false)
 
bool setSpringDirection (int index, const vpColVector &D, bool update=false)
 
void setSpringStiffness (int index, double K, bool update=false)
 
bool moveSpringPosition (int index, const vpColVector &dP, bool update=false)
 
bool moveSpringDirection (int index, const vpThetaUVector &thetaU, bool update=false)
 
void addSpringStiffness (int index, double dK, bool update=false)
 
void setSurfaceAtTip ()
 
int addInsertionPoint (usVirtualSpring spg)
 
int addInsertionPoint (const vpColVector &p, const vpColVector &d)
 
void addInsertionPointOnSegmentHard (int segment, double s)
 
void addInsertionPointAtTipHard ()
 
void addInsertionPointOnSegment (int segment, double s)
 
void addInsertionPointAtTip ()
 
void removeInsertionPointsHard (int first, int last=-1)
 
void removeLastInsertionPointHard ()
 
void removeInsertionPoints (int first, int last=-1)
 
void removeLastInsertionPoint ()
 
void removeAutoAddedSprings ()
 
void fusionSprings (int firstSpring, int lastSpring)
 
void updateSpringsStiffness ()
 
void updateCutAngle ()
 
void updateTipForce ()
 
void updateInsertionDirections ()
 
bool checkInactiveMeasureSprings ()
 
void solveSegmentsParametersSparseEigen ()
 
void solveSegmentsParametersOpenCV ()
 
void solveSegmentsParametersViSP ()
 
void solveSegmentsParameters ()
 
void computeSegmentsLengths ()
 
bool addRemoveSprings ()
 
bool updateState ()
 
void showInsertionPoints () const
 
void showInsertionDirections () const
 
void showStiffnesses () const
 
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

usNeedleModelSpline m_needle
 
double m_tipForce
 
double m_tipMoment
 
double m_cutAngle
 
double m_bevelLength
 
double m_defaultSpringStiffness
 
double m_stiffnessPerUnitLength
 
std::vector< usVirtualSpring > m_springs
 
std::vector< usVirtualSpring > m_inactiveAutoAddedSprings
 
std::vector< usVirtualSpring > m_inactiveMeasureSprings
 
usOrientedPlane3D m_tissueSurface
 
double m_interSpringDistance
 
double m_interTipSpringDistance
 
bool m_IsStateConsistent
 
bool m_LastSegmentLengthComputed
 
InsertionType m_insertionBehavior
 
bool m_IsInserting
 
bool m_AllowSpringAddition
 
bool m_AllowSpringRemoval
 
bool m_AutomaticSpringAddition
 
int m_tipSpringsIndex
 
int m_nbMinTipSprings
 
int m_nbMaxTipSprings
 

Friends

VISP_EXPORT std::ostream & operator<< (std::ostream &s, const usNeedleInsertionModelVirtualSprings &needle)
 
VISP_EXPORT std::istream & operator>> (std::istream &s, usNeedleInsertionModelVirtualSprings &needle)
 
VISP_EXPORT std::ostream & operator<<= (std::ostream &s, const usNeedleInsertionModelVirtualSprings &needle)
 
VISP_EXPORT std::istream & operator>>= (std::istream &s, usNeedleInsertionModelVirtualSprings &needle)
 

Detailed Description

Examples
testUsNeedleInsertionModelVirtualSprings.cpp, and testUsNeedleJacobians.cpp.

Definition at line 50 of file usNeedleInsertionModelVirtualSprings.h.

Member Enumeration Documentation

◆ InsertionType

enum usNeedleInsertionModelVirtualSprings::InsertionType : int
strong
Enumerator
ForceInsert 
ForceRemove 
NaturalBehavior 

Definition at line 53 of file usNeedleInsertionModelVirtualSprings.h.

◆ ModelPreset

enum usNeedleInsertionModelVirtualSprings::ModelPreset : int
strong
Enumerator
BiopsyNeedle 
BiopsyCannula 
AbayazidRRM13 
MisraRSRO10_PlastisolA 
RoesthuisAM12 
SteelSoftTissue 
SRL_BiopsyNID 
NDI_Pink_Stylet 

Definition at line 54 of file usNeedleInsertionModelVirtualSprings.h.

Constructor & Destructor Documentation

◆ usNeedleInsertionModelVirtualSprings() [1/2]

usNeedleInsertionModelVirtualSprings::usNeedleInsertionModelVirtualSprings ( )

Constructors, destructor.

Definition at line 58 of file usNeedleInsertionModelVirtualSprings.cpp.

References solveSegmentsParameters().

Referenced by clone().

◆ usNeedleInsertionModelVirtualSprings() [2/2]

usNeedleInsertionModelVirtualSprings::usNeedleInsertionModelVirtualSprings ( const usNeedleInsertionModelVirtualSprings &  needle)

Definition at line 82 of file usNeedleInsertionModelVirtualSprings.cpp.

◆ ~usNeedleInsertionModelVirtualSprings()

usNeedleInsertionModelVirtualSprings::~usNeedleInsertionModelVirtualSprings ( )
virtual

Definition at line 110 of file usNeedleInsertionModelVirtualSprings.cpp.

Member Function Documentation

◆ accessNeedle() [1/2]

usNeedleModelSpline & usNeedleInsertionModelVirtualSprings::accessNeedle ( )

Definition at line 298 of file usNeedleInsertionModelVirtualSprings.cpp.

References m_needle.

◆ accessNeedle() [2/2]

const usNeedleModelSpline & usNeedleInsertionModelVirtualSprings::accessNeedle ( ) const

Model parameters.

Needle

Examples
testUsNeedleInsertionModelVirtualSprings.cpp, and testUsNeedleJacobians.cpp.

Definition at line 293 of file usNeedleInsertionModelVirtualSprings.cpp.

References m_needle.

Referenced by usNeedleModelingDisplayTools::display().

◆ accessSpring()

const usVirtualSpring & usNeedleInsertionModelVirtualSprings::accessSpring ( int  i) const

Definition at line 341 of file usNeedleInsertionModelVirtualSprings.cpp.

References m_springs.

Referenced by usNeedleModelingDisplayTools::display().

◆ accessSurface() [1/2]

usOrientedPlane3D & usNeedleInsertionModelVirtualSprings::accessSurface ( )

Definition at line 336 of file usNeedleInsertionModelVirtualSprings.cpp.

References m_tissueSurface.

◆ accessSurface() [2/2]

const usOrientedPlane3D & usNeedleInsertionModelVirtualSprings::accessSurface ( ) const

Tissue.

Definition at line 331 of file usNeedleInsertionModelVirtualSprings.cpp.

References m_tissueSurface.

Referenced by usNeedleModelingDisplayTools::display().

◆ addInsertionPoint() [1/2]

int usNeedleInsertionModelVirtualSprings::addInsertionPoint ( const vpColVector &  p,
const vpColVector &  d 
)

Definition at line 781 of file usNeedleInsertionModelVirtualSprings.cpp.

References usBSpline3D::accessLastSegment(), usBSpline3D::accessSegment(), addInsertionPointOnSegmentHard(), usOrientedPlane3D::getDirection(), usPolynomialCurve3D::getEndPoint(), usBSpline3D::getNbSegments(), usPolynomialCurve3D::getParametricLength(), usPolynomialCurve3D::getPoint(), usPolynomialCurve3D::getStartPoint(), usGeometryTools::IsPointInFrontOfPlane(), m_bevelLength, m_interTipSpringDistance, m_needle, m_springs, m_stiffnessPerUnitLength, usOrientedPlane3D::setDirection(), and usVirtualSpring::setStiffness().

◆ addInsertionPoint() [2/2]

int usNeedleInsertionModelVirtualSprings::addInsertionPoint ( usVirtualSpring  spg)

Internal model command.

Definition at line 718 of file usNeedleInsertionModelVirtualSprings.cpp.

References usBSpline3D::accessLastSegment(), usBSpline3D::accessSegment(), addInsertionPointOnSegmentHard(), usGeometryTools::DoesSegmentCrossPlane(), usGeometryTools::DoesSegmentCrossPlaneDirect(), usBSpline3D::getNbSegments(), usPolynomialCurve3D::getParametricLength(), usGeometryTools::getPlaneCurveCrossingPoint(), m_bevelLength, m_needle, m_springs, m_stiffnessPerUnitLength, and usVirtualSpring::setStiffness().

Referenced by checkInactiveMeasureSprings().

◆ addInsertionPointAtTip()

void usNeedleInsertionModelVirtualSprings::addInsertionPointAtTip ( )

Definition at line 864 of file usNeedleInsertionModelVirtualSprings.cpp.

References usBSpline3D::accessLastSegment(), addInsertionPointOnSegment(), usBSpline3D::getNbSegments(), usPolynomialCurve3D::getParametricLength(), and m_needle.

◆ addInsertionPointAtTipHard()

void usNeedleInsertionModelVirtualSprings::addInsertionPointAtTipHard ( )

Definition at line 650 of file usNeedleInsertionModelVirtualSprings.cpp.

References usBSpline3D::accessLastSegment(), addInsertionPointOnSegmentHard(), usBSpline3D::getNbSegments(), usPolynomialCurve3D::getParametricLength(), and m_needle.

◆ addInsertionPointOnSegment()

void usNeedleInsertionModelVirtualSprings::addInsertionPointOnSegment ( int  segment,
double  s 
)

Definition at line 656 of file usNeedleInsertionModelVirtualSprings.cpp.

References usBSpline3D::accessLastSegment(), usBSpline3D::accessSegment(), addInsertionPointOnSegmentHard(), usBSpline3D::getNbSegments(), usPolynomialCurve3D::getParametricLength(), m_bevelLength, m_needle, m_springs, and m_stiffnessPerUnitLength.

Referenced by addInsertionPointAtTip(), and addRemoveSprings().

◆ addInsertionPointOnSegmentHard()

void usNeedleInsertionModelVirtualSprings::addInsertionPointOnSegmentHard ( int  segment,
double  s 
)

Definition at line 610 of file usNeedleInsertionModelVirtualSprings.cpp.

References usBSpline3D::accessLastSegment(), usBSpline3D::accessSegment(), usPolynomialCurve3D::changeCoefficientsToFitBoundaries(), usPolynomialCurve3D::getEndPoint(), usPolynomialCurve3D::getEndTangent(), usBSpline3D::getNbSegments(), usNeedleModelSpline::getOuterDiameter(), usPolynomialCurve3D::getParametricLength(), usPolynomialCurve3D::getStartPoint(), usPolynomialCurve3D::getSubPolynomialCurve(), usNeedleModelBaseTip::getTipPose(), usBSpline3D::insertSegment(), m_bevelLength, m_cutAngle, m_defaultSpringStiffness, m_needle, m_springs, and usPolynomialCurve3D::setParametricLength().

Referenced by addInsertionPoint(), addInsertionPointAtTipHard(), and addInsertionPointOnSegment().

◆ addMeasureSpring()

void usNeedleInsertionModelVirtualSprings::addMeasureSpring ( const vpColVector &  p,
const vpColVector &  d 
)

Control of the tissue.

Definition at line 2000 of file usNeedleInsertionModelVirtualSprings.cpp.

References usVirtualSpring::AllowDirectionUpdate(), usVirtualSpring::AllowPositionUpdate(), usVirtualSpring::AllowStiffnessUpdate(), usOrientedPlane3D::getDirection(), usGeometryTools::IsPointInFrontOfPlane(), m_inactiveMeasureSprings, and m_tissueSurface.

◆ addRemoveSprings()

bool usNeedleInsertionModelVirtualSprings::addRemoveSprings ( )

Definition at line 1845 of file usNeedleInsertionModelVirtualSprings.cpp.

References usBSpline3D::accessLastSegment(), usBSpline3D::accessSegment(), addInsertionPointOnSegment(), usGeometryTools::DoesSegmentCrossPlane(), fusionSprings(), usOrientedPlane3D::getDirection(), usNeedleModelSpline::getFullLength(), usBSpline3D::getNbSegments(), usPolynomialCurve3D::getParametricLength(), usGeometryTools::getPlaneCurveCrossingPoint(), m_AutomaticSpringAddition, m_interSpringDistance, m_interTipSpringDistance, m_LastSegmentLengthComputed, m_nbMaxTipSprings, m_nbMinTipSprings, m_needle, m_springs, m_tipSpringsIndex, m_tissueSurface, removeInsertionPoints(), and usPolynomialCurve3D::setParametricLength().

Referenced by updateState().

◆ addSpringStiffness()

void usNeedleInsertionModelVirtualSprings::addSpringStiffness ( int  index,
double  dK,
bool  update = false 
)

Definition at line 595 of file usNeedleInsertionModelVirtualSprings.cpp.

References m_springs, and setSpringStiffness().

◆ AllowSpringAddition()

void usNeedleInsertionModelVirtualSprings::AllowSpringAddition ( bool  flag)

Internal.

Definition at line 401 of file usNeedleInsertionModelVirtualSprings.cpp.

References m_AllowSpringAddition.

◆ AllowSpringRemoval()

void usNeedleInsertionModelVirtualSprings::AllowSpringRemoval ( bool  flag)

Definition at line 406 of file usNeedleInsertionModelVirtualSprings.cpp.

References m_AllowSpringRemoval.

◆ checkInactiveMeasureSprings()

bool usNeedleInsertionModelVirtualSprings::checkInactiveMeasureSprings ( )

Definition at line 1978 of file usNeedleInsertionModelVirtualSprings.cpp.

References usBSpline3D::accessSegment(), addInsertionPoint(), usGeometryTools::DoesSegmentCrossPlaneDirect(), usBSpline3D::getNbSegments(), m_inactiveMeasureSprings, m_needle, and m_tipSpringsIndex.

Referenced by updateState().

◆ clone()

usNeedleInsertionModelVirtualSprings * usNeedleInsertionModelVirtualSprings::clone ( ) const
virtual

Definition at line 112 of file usNeedleInsertionModelVirtualSprings.cpp.

References usNeedleInsertionModelVirtualSprings().

◆ computeSegmentsLengths()

void usNeedleInsertionModelVirtualSprings::computeSegmentsLengths ( )

Definition at line 1828 of file usNeedleInsertionModelVirtualSprings.cpp.

References usBSpline3D::accessSegment(), usNeedleModelSpline::getFullLength(), usPolynomialCurve3D::getLength(), usBSpline3D::getNbSegments(), m_LastSegmentLengthComputed, m_needle, m_springs, and usPolynomialCurve3D::setParametricLength().

Referenced by updateState().

◆ fusionSprings()

void usNeedleInsertionModelVirtualSprings::fusionSprings ( int  firstSpring,
int  lastSpring 
)

Definition at line 962 of file usNeedleInsertionModelVirtualSprings.cpp.

References usBSpline3D::accessLastSegment(), usBSpline3D::accessSegment(), usPolynomialCurve3D::getParametricLength(), m_bevelLength, m_inactiveMeasureSprings, m_needle, m_springs, and removeInsertionPointsHard().

Referenced by addRemoveSprings(), and removeInsertionPoints().

◆ getAutomaticSpringAddition()

bool usNeedleInsertionModelVirtualSprings::getAutomaticSpringAddition ( ) const

Definition at line 426 of file usNeedleInsertionModelVirtualSprings.cpp.

References m_AutomaticSpringAddition.

◆ getBasePose()

vpPoseVector usNeedleInsertionModelVirtualSprings::getBasePose ( ) const
virtual

Implements usNeedleInsertionModelInterface.

Definition at line 535 of file usNeedleInsertionModelVirtualSprings.cpp.

References usNeedleModelBaseTip::getBasePose(), and m_needle.

◆ getBasePosition()

vpColVector usNeedleInsertionModelInterface::getBasePosition ( ) const
inherited

Definition at line 51 of file usNeedleInsertionModelInterface.cpp.

References usNeedleInsertionModelInterface::getBasePose().

◆ getBevelAngle()

double usNeedleInsertionModelVirtualSprings::getBevelAngle ( ) const

Definition at line 250 of file usNeedleInsertionModelVirtualSprings.cpp.

References usNeedleModelSpline::getOuterDiameter(), m_bevelLength, and m_needle.

◆ getDefaultSpringStiffness()

double usNeedleInsertionModelVirtualSprings::getDefaultSpringStiffness ( ) const

Definition at line 261 of file usNeedleInsertionModelVirtualSprings.cpp.

References m_defaultSpringStiffness.

◆ getInsertionBehavior()

usNeedleInsertionModelVirtualSprings::InsertionType usNeedleInsertionModelVirtualSprings::getInsertionBehavior ( ) const

Definition at line 416 of file usNeedleInsertionModelVirtualSprings.cpp.

References m_insertionBehavior.

◆ getInsertionDepth()

double usNeedleInsertionModelVirtualSprings::getInsertionDepth ( ) const

Definition at line 323 of file usNeedleInsertionModelVirtualSprings.cpp.

References usBSpline3D::accessSegment(), usNeedleModelSpline::getFullLength(), usBSpline3D::getNbSegments(), usPolynomialCurve3D::getParametricLength(), and m_needle.

Referenced by getMeanTissueStretch().

◆ getInterSpringDistance()

double usNeedleInsertionModelVirtualSprings::getInterSpringDistance ( ) const

Definition at line 351 of file usNeedleInsertionModelVirtualSprings.cpp.

References m_interSpringDistance.

◆ getInterTipSpringDistance()

double usNeedleInsertionModelVirtualSprings::getInterTipSpringDistance ( ) const

Definition at line 364 of file usNeedleInsertionModelVirtualSprings.cpp.

References m_interTipSpringDistance.

◆ getMaxTissueStretch()

double usNeedleInsertionModelVirtualSprings::getMaxTissueStretch ( double *  lmax = nullptr) const

Definition at line 471 of file usNeedleInsertionModelVirtualSprings.cpp.

References usBSpline3D::accessSegment(), usPolynomialCurve3D::getEndPoint(), usPolynomialCurve3D::getParametricLength(), IsNeedleInserted(), m_needle, and m_springs.

◆ getMeanTissueStretch()

double usNeedleInsertionModelVirtualSprings::getMeanTissueStretch ( ) const

Definition at line 499 of file usNeedleInsertionModelVirtualSprings.cpp.

References usBSpline3D::accessSegment(), usPolynomialCurve3D::getEndPoint(), getInsertionDepth(), usPolynomialCurve3D::getParametricLength(), m_needle, and m_springs.

◆ getNbMaxTipSprings()

int usNeedleInsertionModelVirtualSprings::getNbMaxTipSprings ( ) const

Definition at line 396 of file usNeedleInsertionModelVirtualSprings.cpp.

References m_nbMaxTipSprings.

◆ getNbMeasureSprings()

int usNeedleInsertionModelVirtualSprings::getNbMeasureSprings ( ) const

Definition at line 285 of file usNeedleInsertionModelVirtualSprings.cpp.

References m_springs.

◆ getNbMinTipSprings()

int usNeedleInsertionModelVirtualSprings::getNbMinTipSprings ( ) const

Definition at line 380 of file usNeedleInsertionModelVirtualSprings.cpp.

References m_nbMinTipSprings.

◆ getNbSprings()

int usNeedleInsertionModelVirtualSprings::getNbSprings ( ) const
Examples
testUsNeedleJacobians.cpp.

Definition at line 280 of file usNeedleInsertionModelVirtualSprings.cpp.

References m_springs.

Referenced by usNeedleModelingDisplayTools::display().

◆ getNeedleFreeLength()

double usNeedleInsertionModelVirtualSprings::getNeedleFreeLength ( ) const

Definition at line 318 of file usNeedleInsertionModelVirtualSprings.cpp.

References usBSpline3D::accessSegment(), usPolynomialCurve3D::getParametricLength(), and m_needle.

◆ getNeedleInsertionPoint()

vpColVector usNeedleInsertionModelVirtualSprings::getNeedleInsertionPoint ( ) const

Definition at line 308 of file usNeedleInsertionModelVirtualSprings.cpp.

References usBSpline3D::accessSegment(), usPolynomialCurve3D::getEndPoint(), and m_needle.

Referenced by getSurfaceTissueStretch().

◆ getPathDistanceFromPoint()

double usNeedleInsertionModelVirtualSprings::getPathDistanceFromPoint ( const vpColVector &  P) const

Measure model information.

Needle position

Definition at line 431 of file usNeedleInsertionModelVirtualSprings.cpp.

References m_springs, and usGeometryTools::projectPointOnPlane().

◆ getStiffnessPerUnitLength()

double usNeedleInsertionModelVirtualSprings::getStiffnessPerUnitLength ( ) const

Definition at line 275 of file usNeedleInsertionModelVirtualSprings.cpp.

References m_stiffnessPerUnitLength.

◆ getSurfaceTissueStretch()

double usNeedleInsertionModelVirtualSprings::getSurfaceTissueStretch ( ) const

Definition at line 463 of file usNeedleInsertionModelVirtualSprings.cpp.

References getNeedleInsertionPoint(), getTissueInsertionPoint(), IsNeedleInserted(), and m_springs.

◆ getTipForce()

double usNeedleInsertionModelVirtualSprings::getTipForce ( )

Definition at line 240 of file usNeedleInsertionModelVirtualSprings.cpp.

References m_tipForce.

◆ getTissueDeformationEnergy()

double usNeedleInsertionModelVirtualSprings::getTissueDeformationEnergy ( ) const

Tissue deformation energy.

Definition at line 449 of file usNeedleInsertionModelVirtualSprings.cpp.

References usBSpline3D::accessSegment(), usPolynomialCurve3D::getEndPoint(), m_needle, and m_springs.

◆ getTissueInsertionPoint()

vpColVector usNeedleInsertionModelVirtualSprings::getTissueInsertionPoint ( ) const

Definition at line 313 of file usNeedleInsertionModelVirtualSprings.cpp.

References m_springs.

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 usNeedleInsertionModelVirtualSprings::IsNeedleInserted ( ) const

Definition at line 303 of file usNeedleInsertionModelVirtualSprings.cpp.

References usNeedleModelBaseTip::getTipPosition(), usGeometryTools::IsPointInFrontOfPlane(), m_needle, and m_tissueSurface.

Referenced by getMaxTissueStretch(), and getSurfaceTissueStretch().

◆ loadPreset()

void usNeedleInsertionModelVirtualSprings::loadPreset ( const ModelPreset  preset)

Parameters saving and loading.

Examples
testUsNeedleInsertionModelVirtualSprings.cpp, and testUsNeedleJacobians.cpp.

Definition at line 153 of file usNeedleInsertionModelVirtualSprings.cpp.

References AbayazidRRM13, usNeedleModelSpline::AbayazidRRM13, BiopsyCannula, usNeedleModelSpline::BiopsyCannula, BiopsyNeedle, usNeedleModelSpline::BiopsyNeedle, usNeedleModelSpline::loadPreset(), m_needle, MisraRSRO10_PlastisolA, usNeedleModelSpline::MisraRSRO10_PlastisolA, NDI_Pink_Stylet, usNeedleModelSpline::NDI_Pink_Stylet, RoesthuisAM12, usNeedleModelSpline::RoesthuisAM12, setBevelAngle(), setInterSpringDistance(), setInterTipSpringDistance(), setNbMaxTipSprings(), setNbMinTipSprings(), setStiffnessPerUnitLength(), SRL_BiopsyNID, usNeedleModelSpline::SRL_BiopsyNID, SteelSoftTissue, and usNeedleModelSpline::SteelSoftTissue.

◆ 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().

◆ moveSpringDirection()

bool usNeedleInsertionModelVirtualSprings::moveSpringDirection ( int  index,
const vpThetaUVector &  thetaU,
bool  update = false 
)

Definition at line 589 of file usNeedleInsertionModelVirtualSprings.cpp.

References m_springs, and setSpringDirection().

◆ moveSpringPosition()

bool usNeedleInsertionModelVirtualSprings::moveSpringPosition ( int  index,
const vpColVector &  dP,
bool  update = false 
)

Definition at line 584 of file usNeedleInsertionModelVirtualSprings.cpp.

References m_springs, and setSpringPosition().

◆ operator=()

const usNeedleInsertionModelVirtualSprings & usNeedleInsertionModelVirtualSprings::operator= ( const usNeedleInsertionModelVirtualSprings &  needle)

Definition at line 117 of file usNeedleInsertionModelVirtualSprings.cpp.

References m_AllowSpringAddition, m_AllowSpringRemoval, m_AutomaticSpringAddition, m_bevelLength, m_cutAngle, m_defaultSpringStiffness, m_inactiveAutoAddedSprings, m_inactiveMeasureSprings, m_insertionBehavior, m_interSpringDistance, m_interTipSpringDistance, m_IsInserting, m_IsStateConsistent, m_LastSegmentLengthComputed, m_nbMaxTipSprings, m_nbMinTipSprings, m_needle, m_springs, m_stiffnessPerUnitLength, m_tipForce, m_tipMoment, m_tipSpringsIndex, and m_tissueSurface.

◆ removeAutoAddedSprings()

void usNeedleInsertionModelVirtualSprings::removeAutoAddedSprings ( )

Definition at line 953 of file usNeedleInsertionModelVirtualSprings.cpp.

References m_springs, m_tipSpringsIndex, and removeInsertionPoints().

Referenced by updateState().

◆ removeInsertionPoints()

void usNeedleInsertionModelVirtualSprings::removeInsertionPoints ( int  first,
int  last = -1 
)

Definition at line 899 of file usNeedleInsertionModelVirtualSprings.cpp.

References usBSpline3D::accessLastSegment(), usBSpline3D::accessSegment(), fusionSprings(), usBSpline3D::getNbSegments(), usPolynomialCurve3D::getParametricLength(), m_bevelLength, m_inactiveMeasureSprings, m_needle, m_springs, removeInsertionPointsHard(), and removeLastInsertionPointHard().

Referenced by addRemoveSprings(), removeAutoAddedSprings(), and removeLastInsertionPoint().

◆ removeInsertionPointsHard()

void usNeedleInsertionModelVirtualSprings::removeInsertionPointsHard ( int  first,
int  last = -1 
)

Definition at line 873 of file usNeedleInsertionModelVirtualSprings.cpp.

References usBSpline3D::accessSegment(), usPolynomialCurve3D::getParametricLength(), m_needle, m_springs, usBSpline3D::removeSegments(), and usPolynomialCurve3D::setParametricLength().

Referenced by fusionSprings(), removeInsertionPoints(), and removeLastInsertionPointHard().

◆ removeLastInsertionPoint()

void usNeedleInsertionModelVirtualSprings::removeLastInsertionPoint ( )

Definition at line 948 of file usNeedleInsertionModelVirtualSprings.cpp.

References m_springs, and removeInsertionPoints().

◆ removeLastInsertionPointHard()

void usNeedleInsertionModelVirtualSprings::removeLastInsertionPointHard ( )

Definition at line 894 of file usNeedleInsertionModelVirtualSprings.cpp.

References m_springs, and removeInsertionPointsHard().

Referenced by removeInsertionPoints().

◆ setAutomaticSpringAddition()

void usNeedleInsertionModelVirtualSprings::setAutomaticSpringAddition ( bool  flag)
Examples
testUsNeedleInsertionModelVirtualSprings.cpp.

Definition at line 421 of file usNeedleInsertionModelVirtualSprings.cpp.

References m_AutomaticSpringAddition.

◆ 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.

Control of the needle

Definition at line 51 of file usNeedleInsertionModelInterface.cpp.

◆ setBasePose() [3/6]

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

The following methods should be redefined in the derived classes.

Implements usNeedleInsertionModelInterface.

Examples
testUsNeedleInsertionModelVirtualSprings.cpp, and testUsNeedleJacobians.cpp.

Definition at line 518 of file usNeedleInsertionModelVirtualSprings.cpp.

References usGeometryTools::IsPointInFrontOfPlane(), m_needle, m_springs, m_tissueSurface, usNeedleModelBaseTip::setBasePose(), and updateState().

◆ setBasePose() [4/6]

virtual bool usNeedleInsertionModelInterface::setBasePose

Control of the needle.

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.

Control of the needle

Definition at line 50 of file usNeedleInsertionModelInterface.cpp.

◆ setBevelAngle()

void usNeedleInsertionModelVirtualSprings::setBevelAngle ( double  angle)

Definition at line 245 of file usNeedleInsertionModelVirtualSprings.cpp.

References usNeedleModelSpline::getOuterDiameter(), m_bevelLength, and m_needle.

Referenced by loadPreset().

◆ setDefaultSpringStiffness()

void usNeedleInsertionModelVirtualSprings::setDefaultSpringStiffness ( double  K)

Tissue parameters.

Definition at line 255 of file usNeedleInsertionModelVirtualSprings.cpp.

References m_defaultSpringStiffness.

◆ setInsertionBehavior()

void usNeedleInsertionModelVirtualSprings::setInsertionBehavior ( InsertionType  type)

Definition at line 411 of file usNeedleInsertionModelVirtualSprings.cpp.

References m_insertionBehavior.

◆ setInterSpringDistance()

void usNeedleInsertionModelVirtualSprings::setInterSpringDistance ( double  interSpringDistance)
Examples
testUsNeedleInsertionModelVirtualSprings.cpp.

Definition at line 346 of file usNeedleInsertionModelVirtualSprings.cpp.

References m_interSpringDistance.

Referenced by loadPreset().

◆ setInterTipSpringDistance()

void usNeedleInsertionModelVirtualSprings::setInterTipSpringDistance ( double  interTipSpringDistance)
Examples
testUsNeedleInsertionModelVirtualSprings.cpp.

Definition at line 356 of file usNeedleInsertionModelVirtualSprings.cpp.

References m_interSpringDistance, and m_interTipSpringDistance.

Referenced by loadPreset().

◆ setNbMaxTipSprings()

void usNeedleInsertionModelVirtualSprings::setNbMaxTipSprings ( int  nb)
Examples
testUsNeedleInsertionModelVirtualSprings.cpp.

Definition at line 385 of file usNeedleInsertionModelVirtualSprings.cpp.

References m_nbMaxTipSprings, and m_nbMinTipSprings.

Referenced by loadPreset().

◆ setNbMinTipSprings()

void usNeedleInsertionModelVirtualSprings::setNbMinTipSprings ( int  nb)
Examples
testUsNeedleInsertionModelVirtualSprings.cpp.

Definition at line 369 of file usNeedleInsertionModelVirtualSprings.cpp.

References m_nbMaxTipSprings, and m_nbMinTipSprings.

Referenced by loadPreset().

◆ setSpringDirection()

bool usNeedleInsertionModelVirtualSprings::setSpringDirection ( int  index,
const vpColVector &  D,
bool  update = false 
)

Definition at line 554 of file usNeedleInsertionModelVirtualSprings.cpp.

References m_springs, and updateState().

Referenced by moveSpringDirection().

◆ setSpringPosition()

bool usNeedleInsertionModelVirtualSprings::setSpringPosition ( int  index,
const vpColVector &  P,
bool  update = false 
)

Definition at line 537 of file usNeedleInsertionModelVirtualSprings.cpp.

References m_springs, and updateState().

Referenced by moveSpringPosition().

◆ setSpringStiffness()

void usNeedleInsertionModelVirtualSprings::setSpringStiffness ( int  index,
double  K,
bool  update = false 
)

Definition at line 570 of file usNeedleInsertionModelVirtualSprings.cpp.

References m_springs, and updateState().

Referenced by addSpringStiffness().

◆ setStiffnessPerUnitLength()

void usNeedleInsertionModelVirtualSprings::setStiffnessPerUnitLength ( double  K)
Examples
testUsNeedleInsertionModelVirtualSprings.cpp.

Definition at line 266 of file usNeedleInsertionModelVirtualSprings.cpp.

References m_stiffnessPerUnitLength, and updateTipForce().

Referenced by loadPreset().

◆ setSurfaceAtTip()

void usNeedleInsertionModelVirtualSprings::setSurfaceAtTip ( )
Examples
testUsNeedleInsertionModelVirtualSprings.cpp, and testUsNeedleJacobians.cpp.

Definition at line 600 of file usNeedleInsertionModelVirtualSprings.cpp.

References usBSpline3D::accessLastSegment(), usPolynomialCurve3D::getEndPoint(), usPolynomialCurve3D::getEndTangent(), usNeedleModelSpline::getOuterDiameter(), usNeedleModelBaseTip::getTipPose(), m_bevelLength, m_needle, m_tissueSurface, usOrientedPlane3D::setDirection(), and usOrientedPlane3D::setPosition().

◆ setTipForce()

void usNeedleInsertionModelVirtualSprings::setTipForce ( double  tipForce)

Parameters setters and getters.

Needle parameters

Definition at line 235 of file usNeedleInsertionModelVirtualSprings.cpp.

References m_tipForce.

◆ showInsertionDirections()

void usNeedleInsertionModelVirtualSprings::showInsertionDirections ( ) const

Definition at line 2116 of file usNeedleInsertionModelVirtualSprings.cpp.

References m_springs.

◆ showInsertionPoints()

void usNeedleInsertionModelVirtualSprings::showInsertionPoints ( ) const

Display.

Definition at line 2103 of file usNeedleInsertionModelVirtualSprings.cpp.

References m_springs.

◆ showStiffnesses()

void usNeedleInsertionModelVirtualSprings::showStiffnesses ( ) const

Definition at line 2129 of file usNeedleInsertionModelVirtualSprings.cpp.

References m_springs.

◆ solveSegmentsParameters()

void usNeedleInsertionModelVirtualSprings::solveSegmentsParameters ( )

Definition at line 1817 of file usNeedleInsertionModelVirtualSprings.cpp.

References solveSegmentsParametersOpenCV(), solveSegmentsParametersSparseEigen(), and solveSegmentsParametersViSP().

Referenced by updateState(), and usNeedleInsertionModelVirtualSprings().

◆ solveSegmentsParametersOpenCV()

void usNeedleInsertionModelVirtualSprings::solveSegmentsParametersOpenCV ( )

Definition at line 1318 of file usNeedleInsertionModelVirtualSprings.cpp.

References usBSpline3D::accessLastSegment(), usBSpline3D::accessSegment(), usNeedleModelBaseTip::getBasePose(), usNeedleModelSpline::getEI(), usPolynomialCurve3D::getEndPoint(), usPolynomialCurve3D::getEndTangent(), usBSpline3D::getNbSegments(), usPolynomialCurve3D::getParametricLength(), usPolynomialCurve3D::getStartTangent(), usNeedleModelBaseTip::getWorldMbase(), usNeedleModelBaseTip::getWorldMtip(), m_IsInserting, m_needle, m_springs, m_tipForce, m_tipMoment, usPolynomialCurve3D::setPolynomialCoefficients(), and usNeedleModelBaseTip::setTipPose().

Referenced by solveSegmentsParameters().

◆ solveSegmentsParametersSparseEigen()

void usNeedleInsertionModelVirtualSprings::solveSegmentsParametersSparseEigen ( )

Definition at line 1069 of file usNeedleInsertionModelVirtualSprings.cpp.

References usBSpline3D::accessLastSegment(), usBSpline3D::accessSegment(), usNeedleModelBaseTip::getBasePose(), usNeedleModelSpline::getEI(), usPolynomialCurve3D::getEndPoint(), usPolynomialCurve3D::getEndTangent(), usBSpline3D::getNbSegments(), usPolynomialCurve3D::getParametricLength(), usPolynomialCurve3D::getStartTangent(), usNeedleModelBaseTip::getWorldMbase(), usNeedleModelBaseTip::getWorldMtip(), m_IsInserting, m_needle, m_springs, m_tipForce, m_tipMoment, usPolynomialCurve3D::setPolynomialCoefficients(), and usNeedleModelBaseTip::setTipPose().

Referenced by solveSegmentsParameters().

◆ solveSegmentsParametersViSP()

void usNeedleInsertionModelVirtualSprings::solveSegmentsParametersViSP ( )

Definition at line 1570 of file usNeedleInsertionModelVirtualSprings.cpp.

References usBSpline3D::accessLastSegment(), usBSpline3D::accessSegment(), usNeedleModelBaseTip::getBasePose(), usNeedleModelSpline::getEI(), usPolynomialCurve3D::getEndPoint(), usPolynomialCurve3D::getEndTangent(), usBSpline3D::getNbSegments(), usPolynomialCurve3D::getParametricLength(), usPolynomialCurve3D::getStartTangent(), usNeedleModelBaseTip::getWorldMbase(), usNeedleModelBaseTip::getWorldMtip(), m_IsInserting, m_needle, m_springs, m_tipForce, m_tipMoment, usPolynomialCurve3D::setPolynomialCoefficients(), and usNeedleModelBaseTip::setTipPose().

Referenced by solveSegmentsParameters().

◆ updateCutAngle()

void usNeedleInsertionModelVirtualSprings::updateCutAngle ( )

Definition at line 1014 of file usNeedleInsertionModelVirtualSprings.cpp.

References usNeedleModelBaseTip::getWorldMtip(), m_cutAngle, m_needle, and m_springs.

Referenced by updateState().

◆ updateInsertionDirections()

void usNeedleInsertionModelVirtualSprings::updateInsertionDirections ( )

Definition at line 1054 of file usNeedleInsertionModelVirtualSprings.cpp.

References usBSpline3D::accessSegment(), usPolynomialCurve3D::getEndTangent(), m_needle, m_springs, and m_tipSpringsIndex.

Referenced by updateState().

◆ updateSpringsStiffness()

void usNeedleInsertionModelVirtualSprings::updateSpringsStiffness ( )

Definition at line 999 of file usNeedleInsertionModelVirtualSprings.cpp.

References usBSpline3D::accessLastSegment(), usBSpline3D::accessSegment(), usBSpline3D::getNbSegments(), usPolynomialCurve3D::getParametricLength(), m_needle, m_springs, and m_stiffnessPerUnitLength.

Referenced by updateState().

◆ updateState()

bool usNeedleInsertionModelVirtualSprings::updateState ( )

Definition at line 2022 of file usNeedleInsertionModelVirtualSprings.cpp.

References usBSpline3D::accessSegment(), addRemoveSprings(), checkInactiveMeasureSprings(), computeSegmentsLengths(), ForceInsert, ForceRemove, usPolynomialCurve3D::getParametricLength(), m_AutomaticSpringAddition, m_insertionBehavior, m_IsInserting, m_LastSegmentLengthComputed, m_needle, m_springs, removeAutoAddedSprings(), solveSegmentsParameters(), updateCutAngle(), updateInsertionDirections(), updateSpringsStiffness(), and updateTipForce().

Referenced by setBasePose(), setSpringDirection(), setSpringPosition(), and setSpringStiffness().

◆ updateTipForce()

void usNeedleInsertionModelVirtualSprings::updateTipForce ( )

Definition at line 1037 of file usNeedleInsertionModelVirtualSprings.cpp.

References usNeedleModelSpline::getOuterDiameter(), m_bevelLength, m_cutAngle, m_needle, m_stiffnessPerUnitLength, m_tipForce, and m_tipMoment.

Referenced by setStiffnessPerUnitLength(), and updateState().

Friends And Related Function Documentation

◆ operator<<

VISP_EXPORT std::ostream& operator<< ( std::ostream &  s,
const usNeedleInsertionModelVirtualSprings &  needle 
)
friend

Data saving.

Text

Definition at line 2138 of file usNeedleInsertionModelVirtualSprings.cpp.

◆ operator<<=

VISP_EXPORT std::ostream& operator<<= ( std::ostream &  s,
const usNeedleInsertionModelVirtualSprings &  needle 
)
friend

Binary.

Definition at line 2244 of file usNeedleInsertionModelVirtualSprings.cpp.

◆ operator>>

VISP_EXPORT std::istream& operator>> ( std::istream &  s,
usNeedleInsertionModelVirtualSprings &  needle 
)
friend

Definition at line 2186 of file usNeedleInsertionModelVirtualSprings.cpp.

◆ operator>>=

VISP_EXPORT std::istream& operator>>= ( std::istream &  s,
usNeedleInsertionModelVirtualSprings &  needle 
)
friend

Definition at line 2290 of file usNeedleInsertionModelVirtualSprings.cpp.

Member Data Documentation

◆ m_AllowSpringAddition

bool usNeedleInsertionModelVirtualSprings::m_AllowSpringAddition
protected

Definition at line 107 of file usNeedleInsertionModelVirtualSprings.h.

Referenced by AllowSpringAddition(), and operator=().

◆ m_AllowSpringRemoval

bool usNeedleInsertionModelVirtualSprings::m_AllowSpringRemoval
protected

Definition at line 108 of file usNeedleInsertionModelVirtualSprings.h.

Referenced by AllowSpringRemoval(), and operator=().

◆ m_AutomaticSpringAddition

bool usNeedleInsertionModelVirtualSprings::m_AutomaticSpringAddition
protected

Definition at line 109 of file usNeedleInsertionModelVirtualSprings.h.

Referenced by addRemoveSprings(), getAutomaticSpringAddition(), operator=(), setAutomaticSpringAddition(), and updateState().

◆ m_bevelLength

double usNeedleInsertionModelVirtualSprings::m_bevelLength
protected

Definition at line 73 of file usNeedleInsertionModelVirtualSprings.h.

Referenced by addInsertionPoint(), addInsertionPointOnSegment(), addInsertionPointOnSegmentHard(), fusionSprings(), getBevelAngle(), operator=(), removeInsertionPoints(), setBevelAngle(), setSurfaceAtTip(), and updateTipForce().

◆ m_cutAngle

double usNeedleInsertionModelVirtualSprings::m_cutAngle
protected

Definition at line 72 of file usNeedleInsertionModelVirtualSprings.h.

Referenced by addInsertionPointOnSegmentHard(), operator=(), updateCutAngle(), and updateTipForce().

◆ m_defaultSpringStiffness

double usNeedleInsertionModelVirtualSprings::m_defaultSpringStiffness
protected

Tissue parameters.

Definition at line 77 of file usNeedleInsertionModelVirtualSprings.h.

Referenced by addInsertionPointOnSegmentHard(), getDefaultSpringStiffness(), operator=(), and setDefaultSpringStiffness().

◆ m_inactiveAutoAddedSprings

std::vector<usVirtualSpring> usNeedleInsertionModelVirtualSprings::m_inactiveAutoAddedSprings
protected

Definition at line 85 of file usNeedleInsertionModelVirtualSprings.h.

Referenced by operator=().

◆ m_inactiveMeasureSprings

std::vector<usVirtualSpring> usNeedleInsertionModelVirtualSprings::m_inactiveMeasureSprings
protected

Definition at line 87 of file usNeedleInsertionModelVirtualSprings.h.

Referenced by addMeasureSpring(), checkInactiveMeasureSprings(), fusionSprings(), operator=(), and removeInsertionPoints().

◆ m_insertionBehavior

InsertionType usNeedleInsertionModelVirtualSprings::m_insertionBehavior
protected

Insertion type.

Definition at line 105 of file usNeedleInsertionModelVirtualSprings.h.

Referenced by getInsertionBehavior(), operator=(), setInsertionBehavior(), and updateState().

◆ m_interSpringDistance

double usNeedleInsertionModelVirtualSprings::m_interSpringDistance
protected

Definition at line 90 of file usNeedleInsertionModelVirtualSprings.h.

Referenced by addRemoveSprings(), getInterSpringDistance(), operator=(), setInterSpringDistance(), and setInterTipSpringDistance().

◆ m_interTipSpringDistance

double usNeedleInsertionModelVirtualSprings::m_interTipSpringDistance
protected

Definition at line 91 of file usNeedleInsertionModelVirtualSprings.h.

Referenced by addInsertionPoint(), addRemoveSprings(), getInterTipSpringDistance(), operator=(), and setInterTipSpringDistance().

◆ m_IsInserting

bool usNeedleInsertionModelVirtualSprings::m_IsInserting
protected

Definition at line 106 of file usNeedleInsertionModelVirtualSprings.h.

Referenced by operator=(), solveSegmentsParametersOpenCV(), solveSegmentsParametersSparseEigen(), solveSegmentsParametersViSP(), and updateState().

◆ m_IsStateConsistent

bool usNeedleInsertionModelVirtualSprings::m_IsStateConsistent
protected

Internal.

Linear system solving

Definition at line 97 of file usNeedleInsertionModelVirtualSprings.h.

Referenced by operator=().

◆ m_LastSegmentLengthComputed

bool usNeedleInsertionModelVirtualSprings::m_LastSegmentLengthComputed
protected

Segments lengths measurement.

Definition at line 101 of file usNeedleInsertionModelVirtualSprings.h.

Referenced by addRemoveSprings(), computeSegmentsLengths(), operator=(), and updateState().

◆ m_nbMaxTipSprings

int usNeedleInsertionModelVirtualSprings::m_nbMaxTipSprings
protected

Definition at line 115 of file usNeedleInsertionModelVirtualSprings.h.

Referenced by addRemoveSprings(), getNbMaxTipSprings(), operator=(), setNbMaxTipSprings(), and setNbMinTipSprings().

◆ m_nbMinTipSprings

int usNeedleInsertionModelVirtualSprings::m_nbMinTipSprings
protected

Definition at line 114 of file usNeedleInsertionModelVirtualSprings.h.

Referenced by addRemoveSprings(), getNbMinTipSprings(), operator=(), setNbMaxTipSprings(), and setNbMinTipSprings().

◆ m_needle

usNeedleModelSpline usNeedleInsertionModelVirtualSprings::m_needle
protected

Needle parameters.

Definition at line 68 of file usNeedleInsertionModelVirtualSprings.h.

Referenced by accessNeedle(), addInsertionPoint(), addInsertionPointAtTip(), addInsertionPointAtTipHard(), addInsertionPointOnSegment(), addInsertionPointOnSegmentHard(), addRemoveSprings(), checkInactiveMeasureSprings(), computeSegmentsLengths(), fusionSprings(), getBasePose(), getBevelAngle(), getInsertionDepth(), getMaxTissueStretch(), getMeanTissueStretch(), getNeedleFreeLength(), getNeedleInsertionPoint(), getTissueDeformationEnergy(), IsNeedleInserted(), loadPreset(), operator=(), removeInsertionPoints(), removeInsertionPointsHard(), setBasePose(), setBevelAngle(), setSurfaceAtTip(), solveSegmentsParametersOpenCV(), solveSegmentsParametersSparseEigen(), solveSegmentsParametersViSP(), updateCutAngle(), updateInsertionDirections(), updateSpringsStiffness(), updateState(), and updateTipForce().

◆ m_springs

std::vector<usVirtualSpring> usNeedleInsertionModelVirtualSprings::m_springs
protected

Model Parameters.

Tissue

Definition at line 84 of file usNeedleInsertionModelVirtualSprings.h.

Referenced by accessSpring(), addInsertionPoint(), addInsertionPointOnSegment(), addInsertionPointOnSegmentHard(), addRemoveSprings(), addSpringStiffness(), computeSegmentsLengths(), fusionSprings(), getMaxTissueStretch(), getMeanTissueStretch(), getNbMeasureSprings(), getNbSprings(), getPathDistanceFromPoint(), getSurfaceTissueStretch(), getTissueDeformationEnergy(), getTissueInsertionPoint(), moveSpringDirection(), moveSpringPosition(), operator=(), removeAutoAddedSprings(), removeInsertionPoints(), removeInsertionPointsHard(), removeLastInsertionPoint(), removeLastInsertionPointHard(), setBasePose(), setSpringDirection(), setSpringPosition(), setSpringStiffness(), showInsertionDirections(), showInsertionPoints(), showStiffnesses(), solveSegmentsParametersOpenCV(), solveSegmentsParametersSparseEigen(), solveSegmentsParametersViSP(), updateCutAngle(), updateInsertionDirections(), updateSpringsStiffness(), and updateState().

◆ m_stiffnessPerUnitLength

double usNeedleInsertionModelVirtualSprings::m_stiffnessPerUnitLength
protected

Definition at line 78 of file usNeedleInsertionModelVirtualSprings.h.

Referenced by addInsertionPoint(), addInsertionPointOnSegment(), getStiffnessPerUnitLength(), operator=(), setStiffnessPerUnitLength(), updateSpringsStiffness(), and updateTipForce().

◆ m_tipForce

double usNeedleInsertionModelVirtualSprings::m_tipForce
protected

Definition at line 70 of file usNeedleInsertionModelVirtualSprings.h.

Referenced by getTipForce(), operator=(), setTipForce(), solveSegmentsParametersOpenCV(), solveSegmentsParametersSparseEigen(), solveSegmentsParametersViSP(), and updateTipForce().

◆ m_tipMoment

double usNeedleInsertionModelVirtualSprings::m_tipMoment
protected

Definition at line 71 of file usNeedleInsertionModelVirtualSprings.h.

Referenced by operator=(), solveSegmentsParametersOpenCV(), solveSegmentsParametersSparseEigen(), solveSegmentsParametersViSP(), and updateTipForce().

◆ m_tipSpringsIndex

int usNeedleInsertionModelVirtualSprings::m_tipSpringsIndex
protected

Tip springs.

Definition at line 113 of file usNeedleInsertionModelVirtualSprings.h.

Referenced by addRemoveSprings(), checkInactiveMeasureSprings(), operator=(), removeAutoAddedSprings(), and updateInsertionDirections().

◆ m_tissueSurface

usOrientedPlane3D usNeedleInsertionModelVirtualSprings::m_tissueSurface
protected

Definition at line 89 of file usNeedleInsertionModelVirtualSprings.h.

Referenced by accessSurface(), addMeasureSpring(), addRemoveSprings(), IsNeedleInserted(), operator=(), setBasePose(), and setSurfaceAtTip().