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

#include <visp3/ustk_needle_modeling/usNeedleModelBaseTip.h>

+ Inheritance diagram for usNeedleModelBaseTip:

Public Member Functions

 usNeedleModelBaseTip ()
 
 usNeedleModelBaseTip (const usNeedleModelBaseTip &needle)
 
virtual ~usNeedleModelBaseTip ()
 
virtual usNeedleModelBaseTip & operator= (const usNeedleModelBaseTip &needle)
 
virtual usNeedleModelBaseTip * clone () const
 
vpPoseVector getBasePose () const
 
vpHomogeneousMatrix getWorldMbase () const
 
vpColVector getBasePosition () const
 
vpColVector getBaseDirection () const
 
vpPoseVector getTipPose () const
 
vpHomogeneousMatrix getWorldMtip () const
 
vpColVector getTipPosition () const
 
vpColVector getTipDirection () const
 
void setBasePose (double tx, double ty, double tz, double thetax, double thetay, double thetaz)
 
void setBasePose (const vpPoseVector &pose)
 
void setBasePose (const vpHomogeneousMatrix &Hpose)
 
void setTipPose (double tx, double ty, double tz, double thetax, double thetay, double thetaz)
 
void setTipPose (const vpPoseVector &pose)
 
void setTipPose (const vpHomogeneousMatrix &Hpose)
 
void moveBase (const vpColVector &control, double time)
 
void moveBase (double tx, double ty, double tz, double thetax, double thetay, double thetaz)
 
void moveBase (const vpPoseVector &pose)
 
void moveBase (const vpColVector &v)
 
void moveBase (const vpHomogeneousMatrix &Hmotion)
 
void moveBaseWorldFrame (const vpColVector &command, double time)
 
void moveBaseWorldFrame (double tx, double ty, double tz, double thetax, double thetay, double thetaz)
 
void moveBaseWorldFrame (const vpPoseVector &pose)
 
void moveBaseWorldFrame (const vpColVector &v)
 
void moveBaseWorldFrame (const vpHomogeneousMatrix &Hmotion)
 
void moveTip (const vpColVector &control, double time)
 
void moveTip (double tx, double ty, double tz, double thetax, double thetay, double thetaz)
 
void moveTip (const vpPoseVector &pose)
 
void moveTip (const vpColVector &v)
 
void moveTip (const vpHomogeneousMatrix &Hmotion)
 
void moveTipWorldFrame (const vpColVector &command, double time)
 
void moveTipWorldFrame (double tx, double ty, double tz, double thetax, double thetay, double thetaz)
 
void moveTipWorldFrame (const vpPoseVector &pose)
 
void moveTipWorldFrame (const vpColVector &v)
 
void moveTipWorldFrame (const vpHomogeneousMatrix &Hmotion)
 

Protected Attributes

vpPoseVector m_basePose
 
vpHomogeneousMatrix m_worldMbase
 
vpPoseVector m_tipPose
 
vpHomogeneousMatrix m_worldMtip
 

Friends

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

Detailed Description

Definition at line 42 of file usNeedleModelBaseTip.h.

Constructor & Destructor Documentation

◆ usNeedleModelBaseTip() [1/2]

usNeedleModelBaseTip::usNeedleModelBaseTip ( )

Constructors, destructors.

Definition at line 38 of file usNeedleModelBaseTip.cpp.

Referenced by clone().

◆ usNeedleModelBaseTip() [2/2]

usNeedleModelBaseTip::usNeedleModelBaseTip ( const usNeedleModelBaseTip &  needle)

Definition at line 40 of file usNeedleModelBaseTip.cpp.

◆ ~usNeedleModelBaseTip()

usNeedleModelBaseTip::~usNeedleModelBaseTip ( )
virtual

Definition at line 46 of file usNeedleModelBaseTip.cpp.

Member Function Documentation

◆ clone()

usNeedleModelBaseTip * usNeedleModelBaseTip::clone ( ) const
virtual

Reimplemented in usNeedleModelSpline, and usNeedleModelPolynomial.

Definition at line 58 of file usNeedleModelBaseTip.cpp.

References usNeedleModelBaseTip().

◆ getBaseDirection()

vpColVector usNeedleModelBaseTip::getBaseDirection ( ) const

Definition at line 66 of file usNeedleModelBaseTip.cpp.

References m_worldMbase.

◆ getBasePose()

vpPoseVector usNeedleModelBaseTip::getBasePose ( ) const

Parameters setters and getters.

Definition at line 60 of file usNeedleModelBaseTip.cpp.

References m_basePose.

Referenced by usNeedleInsertionModelKinematic::getBasePose(), usNeedleInsertionModelRayleighRitzSpline::getBasePose(), usNeedleInsertionModelVirtualSprings::getBasePose(), usNeedleInsertionModelRayleighRitzSpline::solveSegmentsParametersDense(), usNeedleInsertionModelRayleighRitzSpline::solveSegmentsParametersFullSparseEigen(), usNeedleInsertionModelRayleighRitzSpline::solveSegmentsParametersFullSparseEigenFixedLength(), usNeedleInsertionModelVirtualSprings::solveSegmentsParametersOpenCV(), usNeedleInsertionModelRayleighRitzSpline::solveSegmentsParametersSparseEigen(), usNeedleInsertionModelVirtualSprings::solveSegmentsParametersSparseEigen(), and usNeedleInsertionModelVirtualSprings::solveSegmentsParametersViSP().

◆ getBasePosition()

vpColVector usNeedleModelBaseTip::getBasePosition ( ) const

Definition at line 64 of file usNeedleModelBaseTip.cpp.

References m_basePose.

Referenced by usNeedleInsertionModelRayleighRitzSpline::cutPathToPoint().

◆ getTipDirection()

vpColVector usNeedleModelBaseTip::getTipDirection ( ) const
Examples
testUsNeedleInsertionModelRayleighRitzSpline.cpp.

Definition at line 82 of file usNeedleModelBaseTip.cpp.

References m_worldMtip.

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

◆ getTipPose()

vpPoseVector usNeedleModelBaseTip::getTipPose ( ) const
Examples
testUsNeedleInsertionModelKinematic.cpp.

Definition at line 77 of file usNeedleModelBaseTip.cpp.

References m_tipPose.

Referenced by usNeedleInsertionModelVirtualSprings::addInsertionPointOnSegmentHard(), usNeedleInsertionModelRayleighRitzSpline::setSurfaceAtTip(), and usNeedleInsertionModelVirtualSprings::setSurfaceAtTip().

◆ getTipPosition()

vpColVector usNeedleModelBaseTip::getTipPosition ( ) const
Examples
testUsNeedleInsertionModelRayleighRitzSpline.cpp, and testUsNeedleJacobians.cpp.

Definition at line 80 of file usNeedleModelBaseTip.cpp.

References m_tipPose.

Referenced by usTissueTranslationEstimatorUKF::computeMeasureFromSigmaPoint(), usNeedleInsertionModelRayleighRitzSpline::IsNeedleInserted(), and usNeedleInsertionModelVirtualSprings::IsNeedleInserted().

◆ getWorldMbase()

vpHomogeneousMatrix usNeedleModelBaseTip::getWorldMbase ( ) const

Definition at line 62 of file usNeedleModelBaseTip.cpp.

References m_worldMbase.

Referenced by usNeedleModelingDisplayTools::displayBase(), usNeedleInsertionModelKinematic::setBasePose(), usNeedleInsertionModelRayleighRitzSpline::solveSegmentsParametersDense(), usNeedleInsertionModelRayleighRitzSpline::solveSegmentsParametersFullSparseEigen(), usNeedleInsertionModelRayleighRitzSpline::solveSegmentsParametersFullSparseEigenFixedLength(), usNeedleInsertionModelVirtualSprings::solveSegmentsParametersOpenCV(), usNeedleInsertionModelRayleighRitzSpline::solveSegmentsParametersSparseEigen(), usNeedleInsertionModelVirtualSprings::solveSegmentsParametersSparseEigen(), usNeedleInsertionModelVirtualSprings::solveSegmentsParametersViSP(), and usNeedleInsertionModelRayleighRitzSpline::updateTipPose().

◆ getWorldMtip()

vpHomogeneousMatrix usNeedleModelBaseTip::getWorldMtip ( ) const

Definition at line 78 of file usNeedleModelBaseTip.cpp.

References m_worldMtip.

Referenced by usNeedleModelingDisplayTools::displayTip(), usNeedleInsertionModelVirtualSprings::solveSegmentsParametersOpenCV(), usNeedleInsertionModelVirtualSprings::solveSegmentsParametersSparseEigen(), usNeedleInsertionModelVirtualSprings::solveSegmentsParametersViSP(), and usNeedleInsertionModelVirtualSprings::updateCutAngle().

◆ moveBase() [1/5]

void usNeedleModelBaseTip::moveBase ( const vpColVector &  control,
double  time 
)

Definition at line 139 of file usNeedleModelBaseTip.cpp.

Referenced by moveBase(), and moveBaseWorldFrame().

◆ moveBase() [2/5]

void usNeedleModelBaseTip::moveBase ( const vpColVector &  v)

Definition at line 169 of file usNeedleModelBaseTip.cpp.

References moveBase().

◆ moveBase() [3/5]

void usNeedleModelBaseTip::moveBase ( const vpHomogeneousMatrix &  Hmotion)

Definition at line 179 of file usNeedleModelBaseTip.cpp.

References m_worldMbase, and setBasePose().

◆ moveBase() [4/5]

void usNeedleModelBaseTip::moveBase ( const vpPoseVector &  pose)

Definition at line 162 of file usNeedleModelBaseTip.cpp.

References moveBase().

◆ moveBase() [5/5]

void usNeedleModelBaseTip::moveBase ( double  tx,
double  ty,
double  tz,
double  thetax,
double  thetay,
double  thetaz 
)

Definition at line 155 of file usNeedleModelBaseTip.cpp.

References moveBase().

◆ moveBaseWorldFrame() [1/5]

void usNeedleModelBaseTip::moveBaseWorldFrame ( const vpColVector &  command,
double  time 
)

Definition at line 187 of file usNeedleModelBaseTip.cpp.

Referenced by moveBaseWorldFrame().

◆ moveBaseWorldFrame() [2/5]

void usNeedleModelBaseTip::moveBaseWorldFrame ( const vpColVector &  v)

Definition at line 218 of file usNeedleModelBaseTip.cpp.

References moveBaseWorldFrame().

◆ moveBaseWorldFrame() [3/5]

void usNeedleModelBaseTip::moveBaseWorldFrame ( const vpHomogeneousMatrix &  Hmotion)

Definition at line 229 of file usNeedleModelBaseTip.cpp.

References m_worldMbase, and moveBase().

◆ moveBaseWorldFrame() [4/5]

void usNeedleModelBaseTip::moveBaseWorldFrame ( const vpPoseVector &  pose)

Definition at line 211 of file usNeedleModelBaseTip.cpp.

References moveBaseWorldFrame().

◆ moveBaseWorldFrame() [5/5]

void usNeedleModelBaseTip::moveBaseWorldFrame ( double  tx,
double  ty,
double  tz,
double  thetax,
double  thetay,
double  thetaz 
)

Definition at line 203 of file usNeedleModelBaseTip.cpp.

References moveBaseWorldFrame().

◆ moveTip() [1/5]

void usNeedleModelBaseTip::moveTip ( const vpColVector &  control,
double  time 
)

Definition at line 246 of file usNeedleModelBaseTip.cpp.

Referenced by moveTip(), moveTipWorldFrame(), and usNeedleInsertionModelKinematic::setBasePose().

◆ moveTip() [2/5]

void usNeedleModelBaseTip::moveTip ( const vpColVector &  v)

Definition at line 276 of file usNeedleModelBaseTip.cpp.

References moveTip().

◆ moveTip() [3/5]

void usNeedleModelBaseTip::moveTip ( const vpHomogeneousMatrix &  Hmotion)

Definition at line 286 of file usNeedleModelBaseTip.cpp.

References m_worldMtip, and setTipPose().

◆ moveTip() [4/5]

void usNeedleModelBaseTip::moveTip ( const vpPoseVector &  pose)

Definition at line 269 of file usNeedleModelBaseTip.cpp.

References moveTip().

◆ moveTip() [5/5]

void usNeedleModelBaseTip::moveTip ( double  tx,
double  ty,
double  tz,
double  thetax,
double  thetay,
double  thetaz 
)

Definition at line 262 of file usNeedleModelBaseTip.cpp.

References moveTip().

◆ moveTipWorldFrame() [1/5]

void usNeedleModelBaseTip::moveTipWorldFrame ( const vpColVector &  command,
double  time 
)

Definition at line 294 of file usNeedleModelBaseTip.cpp.

Referenced by moveTipWorldFrame().

◆ moveTipWorldFrame() [2/5]

void usNeedleModelBaseTip::moveTipWorldFrame ( const vpColVector &  v)

Definition at line 324 of file usNeedleModelBaseTip.cpp.

References moveTipWorldFrame().

◆ moveTipWorldFrame() [3/5]

void usNeedleModelBaseTip::moveTipWorldFrame ( const vpHomogeneousMatrix &  Hmotion)

Definition at line 335 of file usNeedleModelBaseTip.cpp.

References m_worldMtip, and moveTip().

◆ moveTipWorldFrame() [4/5]

void usNeedleModelBaseTip::moveTipWorldFrame ( const vpPoseVector &  pose)

Definition at line 317 of file usNeedleModelBaseTip.cpp.

References moveTipWorldFrame().

◆ moveTipWorldFrame() [5/5]

void usNeedleModelBaseTip::moveTipWorldFrame ( double  tx,
double  ty,
double  tz,
double  thetax,
double  thetay,
double  thetaz 
)

Definition at line 309 of file usNeedleModelBaseTip.cpp.

References moveTipWorldFrame().

◆ operator=()

usNeedleModelBaseTip & usNeedleModelBaseTip::operator= ( const usNeedleModelBaseTip &  needle)
virtual

Definition at line 48 of file usNeedleModelBaseTip.cpp.

References m_basePose, m_tipPose, m_worldMbase, and m_worldMtip.

Referenced by usNeedleModelPolynomial::operator=(), and usNeedleModelSpline::operator=().

◆ setBasePose() [1/3]

void usNeedleModelBaseTip::setBasePose ( const vpHomogeneousMatrix &  Hpose)

Definition at line 110 of file usNeedleModelBaseTip.cpp.

References m_basePose, and m_worldMbase.

◆ setBasePose() [2/3]

void usNeedleModelBaseTip::setBasePose ( const vpPoseVector &  pose)

Definition at line 104 of file usNeedleModelBaseTip.cpp.

References m_basePose, and m_worldMbase.

◆ setBasePose() [3/3]

void usNeedleModelBaseTip::setBasePose ( double  tx,
double  ty,
double  tz,
double  thetax,
double  thetay,
double  thetaz 
)

Command of the needle.

Examples
testUsNeedleInsertionModelKinematic.cpp.

Definition at line 93 of file usNeedleModelBaseTip.cpp.

References m_basePose, and m_worldMbase.

Referenced by moveBase(), usNeedleInsertionModelRayleighRitzSpline::setBasePose(), usNeedleInsertionModelVirtualSprings::setBasePose(), and usNeedleInsertionModelKinematic::setBasePose().

◆ setTipPose() [1/3]

void usNeedleModelBaseTip::setTipPose ( const vpHomogeneousMatrix &  Hpose)

Definition at line 133 of file usNeedleModelBaseTip.cpp.

References m_tipPose, and m_worldMtip.

◆ setTipPose() [2/3]

void usNeedleModelBaseTip::setTipPose ( const vpPoseVector &  pose)

Definition at line 127 of file usNeedleModelBaseTip.cpp.

References m_tipPose, and m_worldMtip.

◆ setTipPose() [3/3]

void usNeedleModelBaseTip::setTipPose ( double  tx,
double  ty,
double  tz,
double  thetax,
double  thetay,
double  thetaz 
)
Examples
testUsNeedleInsertionModelKinematic.cpp.

Definition at line 116 of file usNeedleModelBaseTip.cpp.

References m_tipPose, and m_worldMtip.

Referenced by moveTip(), usNeedleInsertionModelVirtualSprings::solveSegmentsParametersOpenCV(), usNeedleInsertionModelVirtualSprings::solveSegmentsParametersSparseEigen(), usNeedleInsertionModelVirtualSprings::solveSegmentsParametersViSP(), and usNeedleInsertionModelRayleighRitzSpline::updateTipPose().

Friends And Related Function Documentation

◆ operator<<

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

Data saving.

Text

Definition at line 352 of file usNeedleModelBaseTip.cpp.

◆ operator<<=

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

Binary.

Definition at line 397 of file usNeedleModelBaseTip.cpp.

◆ operator>>

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

Definition at line 376 of file usNeedleModelBaseTip.cpp.

◆ operator>>=

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

Definition at line 415 of file usNeedleModelBaseTip.cpp.

Member Data Documentation

◆ m_basePose

vpPoseVector usNeedleModelBaseTip::m_basePose
protected

Definition at line 45 of file usNeedleModelBaseTip.h.

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

◆ m_tipPose

vpPoseVector usNeedleModelBaseTip::m_tipPose
protected

Definition at line 48 of file usNeedleModelBaseTip.h.

Referenced by getTipPose(), getTipPosition(), operator=(), and setTipPose().

◆ m_worldMbase

vpHomogeneousMatrix usNeedleModelBaseTip::m_worldMbase
protected

Definition at line 46 of file usNeedleModelBaseTip.h.

Referenced by getBaseDirection(), getWorldMbase(), moveBase(), moveBaseWorldFrame(), operator=(), and setBasePose().

◆ m_worldMtip

vpHomogeneousMatrix usNeedleModelBaseTip::m_worldMtip
protected

Definition at line 49 of file usNeedleModelBaseTip.h.

Referenced by getTipDirection(), getWorldMtip(), moveTip(), moveTipWorldFrame(), operator=(), and setTipPose().