usNeedleModelPolynomial Class Reference

#include <visp3/ustk_needle_modeling/usNeedleModelPolynomial.h>

Inheritance diagram for usNeedleModelPolynomial:

Public Types
enum class	NeedlePreset : int {   BiopsyNeedle , BiopsyCannula , AbayazidRRM13 , MisraRSRO10_PlastisolA ,   RoesthuisAM12 , SteelSoftTissue }

Public Member Functions
	usNeedleModelPolynomial ()
	usNeedleModelPolynomial (const usNeedleModelPolynomial &needle)
virtual	~usNeedleModelPolynomial ()
const usNeedleModelPolynomial &	operator= (const usNeedleModelPolynomial &needle)
virtual usNeedleModelPolynomial *	clone () const
void	loadPreset (const NeedlePreset preset)
void	setOuterDiameter (double diameter)
double	getOuterDiameter () const
void	setInsideDiameter (double diameter)
double	getInsideDiameter () const
void	setNeedleYoungModulus (double E)
double	getNeedleYoungModulus () const
double	getEI () const
void	init ()
vpColVector	getNeedlePoint (double l) const
vpColVector	getNeedleDirection (double l) const
double	getDistanceFromPoint (const vpColVector &P, double start=0, double stop=-1, double threshold=1e-5) const
double	getBendingEnergy () const
vpColVector	getBaseStaticTorsor () const
double	getCurvatureFromNeedleShape (double start, double end, vpColVector &center3D, vpColVector &direction3D) 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)
void	setOrder (unsigned int order)
unsigned int	getOrder () const
void	setStartParameter (double startParameter)
double	getStartParameter () const
void	setEndParameter (double endParameter)
double	getEndParameter () const
void	setBoundaries (double startParameter, double endParamter)
void	setParametricLength (double length)
double	getParametricLength () const
void	setLength (double length, double precision=1e-4)
double	getLength (int nbCountSeg=50) const
void	setPolynomialCoefficients (const vpMatrix &polynomialCoefficients)
vpMatrix	getPolynomialCoefficients () const
vpColVector	getPoint (double parameter) const
vpMatrix	getPoints (const vpColVector &parameters) const
vpColVector	getStartPoint () const
vpColVector	getEndPoint () const
vpColVector	getTangent (double parameter) const
vpColVector	getStartTangent () const
vpColVector	getEndTangent () const
vpColVector	getDerivative (double parameter, unsigned int order) const
void	defineFromPoints (const std::vector< vpColVector > &points, const std::vector< double > &param, unsigned int order=0)
void	defineFromPoints (const vpMatrix points, const vpColVector &param, unsigned int order=0)
void	defineFromPointsAuto (const std::vector< vpColVector > &points, unsigned int order=0)
void	defineFromPointsAuto (const vpMatrix &points, unsigned int order=0)
void	defineFromPointsAuto (const std::vector< vpColVector > &points, const vpColVector &direction, unsigned int order=0)
void	defineFromPointsAuto (const vpMatrix &points, const vpColVector &direction, unsigned int order=0)
void	defineFromWeightedPoints (const std::vector< vpColVector > &points, const std::vector< double > &param, const std::vector< double > &weights, unsigned int order=0)
void	defineFromWeightedPoints (const vpMatrix &points, const vpColVector &param, const vpColVector &weights, unsigned int order=0)
void	defineFromWeightedPointsAuto (const std::vector< vpColVector > &points, const std::vector< double > &weights, unsigned int order=0)
void	defineFromWeightedPointsAuto (const vpMatrix &points, const vpColVector &weights, unsigned int order=0)
void	defineFromWeightedPointsAuto (const std::vector< vpColVector > &points, const std::vector< double > &weights, const vpColVector &direction, unsigned int order=0)
void	defineFromWeightedPointsAuto (const vpMatrix &points, const vpColVector &weights, const vpColVector &direction, unsigned int order=0)
double	getCurvature (double param) const
double	getCurvatureFromShape (double start, double end, vpColVector &center3D, vpColVector &direction3D) const
double	getMeanAxisDeviation (int nbCountSeg=50) const
void	setControlPoints (const vpMatrix &controlPoints)
void	setControlPoints (double **controlPoints)
vpMatrix	getControlPoints () const
vpMatrix	getRenderingPoints () const
usPolynomialCurve3D	getSubPolynomialCurve (double startParameter, double endParameter) const
usPolynomialCurve3D	getNewOrderPolynomialCurve (unsigned int order) const
void	changeCoefficientsToFitBoundaries (double startParameter, double endParameter)
void	reverse ()
void	changeCoefficientsToFitMetricLength ()
void	move (const vpHomogeneousMatrix &H)
void	move (double x, double y, double z, double tx, double ty, double tz)
void	scale (double s)

Static Public Member Functions
static double	curveDistance (const usPolynomialCurve3D &n1, const usPolynomialCurve3D &n2)

Protected Attributes
double	m_outerDiameter
double	m_insideDiameter
double	m_needleYoungModulus
vpPoseVector	m_basePose
vpHomogeneousMatrix	m_worldMbase
vpPoseVector	m_tipPose
vpHomogeneousMatrix	m_worldMtip
unsigned int	m_order
double	m_startParameter
double	m_endParameter
vpMatrix	m_polynomialCoefficients

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

Detailed Description

Definition at line 43 of file usNeedleModelPolynomial.h.

Member Enumeration Documentation

NeedlePreset

enum usNeedleModelPolynomial::NeedlePreset : int

strong

Enumerator
BiopsyNeedle
BiopsyCannula
AbayazidRRM13
MisraRSRO10_PlastisolA
RoesthuisAM12
SteelSoftTissue

Definition at line 46 of file usNeedleModelPolynomial.h.

Constructor & Destructor Documentation

usNeedleModelPolynomial() [1/2]

usNeedleModelPolynomial::usNeedleModelPolynomial

(

)

Constructors, destructor.

Definition at line 42 of file usNeedleModelPolynomial.cpp.

References init().

usNeedleModelPolynomial() [2/2]

usNeedleModelPolynomial::usNeedleModelPolynomial

(

const usNeedleModelPolynomial &

needle

)

Definition at line 50 of file usNeedleModelPolynomial.cpp.

~usNeedleModelPolynomial()

usNeedleModelPolynomial::~usNeedleModelPolynomial ( )

virtual

Definition at line 58 of file usNeedleModelPolynomial.cpp.

Member Function Documentation

changeCoefficientsToFitBoundaries()

void usPolynomialCurve3D::changeCoefficientsToFitBoundaries ( double  startParameter, double  endParameter  )

inherited

Modify the polynomial coefficients such that the parametric variable now goes from two different boundaries, without changing the shape of the curve in space.

Examples

testUsPolynomialCurve3D.cpp.

Definition at line 1185 of file usPolynomialCurve3D.cpp.

References usPolynomialCurve3D::m_endParameter, usPolynomialCurve3D::m_order, usPolynomialCurve3D::m_polynomialCoefficients, and usPolynomialCurve3D::m_startParameter.

Referenced by usNeedleInsertionModelVirtualSprings::addInsertionPointOnSegmentHard(), usPolynomialCurve3D::changeCoefficientsToFitMetricLength(), usNeedleInsertionModelRayleighRitzSpline::fitLength(), usBSpline3D::getSubSpline(), usPolynomialCurve3D::reverse(), usNeedleInsertionModelRayleighRitzSpline::solveSegmentsParametersDense(), usNeedleInsertionModelRayleighRitzSpline::solveSegmentsParametersFullSparseEigen(), usNeedleInsertionModelRayleighRitzSpline::solveSegmentsParametersFullSparseEigenFixedLength(), and usNeedleInsertionModelRayleighRitzSpline::solveSegmentsParametersSparseEigen().

changeCoefficientsToFitMetricLength()

void usPolynomialCurve3D::changeCoefficientsToFitMetricLength ( )

inherited

Modify the polynomial coefficients such that the metric length of the curve corresponds to the parametric length.

Examples

testUsPolynomialCurve3D.cpp.

Definition at line 1229 of file usPolynomialCurve3D.cpp.

References usPolynomialCurve3D::changeCoefficientsToFitBoundaries(), usPolynomialCurve3D::getLength(), usPolynomialCurve3D::m_endParameter, usPolynomialCurve3D::m_startParameter, and usPolynomialCurve3D::setBoundaries().

clone()

virtual usNeedleModelPolynomial* usNeedleModelPolynomial::clone ( ) const

inlinevirtual

Reimplemented from usNeedleModelBaseTip.

Definition at line 70 of file usNeedleModelPolynomial.h.

curveDistance()

double usPolynomialCurve3D::curveDistance ( const usPolynomialCurve3D &  n1, const usPolynomialCurve3D &  n2  )

staticinherited

Compute the distance between two curves. (to remove)

Definition at line 1143 of file usPolynomialCurve3D.cpp.

References usPolynomialCurve3D::getOrder(), and usPolynomialCurve3D::getPolynomialCoefficients().

defineFromPoints() [1/2]

void usPolynomialCurve3D::defineFromPoints ( const std::vector< vpColVector > &  points, const std::vector< double > &  param, unsigned int  order = 0  )

inherited

Define the polynomial curve to fit as best as possible a set of control points at given parametric values.

Parameters

points	The desired control points.
param	The desired parametric values.
order	The order of the resulting polynomial curve (keep the current order of the curve if given value is <1 (default))

Examples

testUsBSpline3D.cpp, and testUsPolynomialCurve3D.cpp.

Definition at line 278 of file usPolynomialCurve3D.cpp.

References usPolynomialCurve3D::m_order, usPolynomialCurve3D::setBoundaries(), and usPolynomialCurve3D::setPolynomialCoefficients().

Referenced by usGeometryTools::convertBSplineToPolynomial(), usPolynomialCurve3D::defineFromPointsAuto(), and usNeedleModelingDisplayTools::displayNeedle().

defineFromPoints() [2/2]

void usPolynomialCurve3D::defineFromPoints ( const vpMatrix  points, const vpColVector &  param, unsigned int  order = 0  )

inherited

Define the polynomial curve to fit as best as possible a set of control points at given parametric values.

Parameters

points	The desired control points.
param	The desired parametric values.
order	The order of the resulting polynomial curve (keep the current order of the curve if given value is <1 (default))

Definition at line 337 of file usPolynomialCurve3D.cpp.

References usPolynomialCurve3D::m_order, usPolynomialCurve3D::setBoundaries(), and usPolynomialCurve3D::setPolynomialCoefficients().

defineFromPointsAuto() [1/4]

void usPolynomialCurve3D::defineFromPointsAuto ( const std::vector< vpColVector > &  points, const vpColVector &  direction, unsigned int  order = 0  )

inherited

Define the polynomial curve to fit as best as possible a set of weighted control points at given parametric values. Parametric values for the different points are automatically computed according to their position along a given straight direction.

Parameters

points	The desired control points.
direction	The direction used to compute the parametric values associated to each point.
order	The order of the resulting polynomial curve (keep the current order of the curve if given value is <1 (default))

Definition at line 452 of file usPolynomialCurve3D.cpp.

References usPolynomialCurve3D::defineFromPoints(), usPolynomialCurve3D::getParametricLength(), usPolynomialCurve3D::m_order, and usPolynomialCurve3D::m_startParameter.

defineFromPointsAuto() [2/4]

void usPolynomialCurve3D::defineFromPointsAuto ( const std::vector< vpColVector > &  points, unsigned int  order = 0  )

inherited

Define the polynomial curve to fit as best as possible a set of control points. Parametric values for the different points are automatically computed.

Parameters

points	The desired control points.
order	The order of the resulting polynomial curve (keep the current order of the curve if given value is <1 (default))

Examples

testUsGeometryDisplayTools.cpp, and testUsPolynomialCurve3D.cpp.

Definition at line 395 of file usPolynomialCurve3D.cpp.

References usPolynomialCurve3D::m_order.

Referenced by usPolynomialCurve3D::defineFromPointsAuto(), and usPolynomialCurve3D::setControlPoints().

defineFromPointsAuto() [3/4]

void usPolynomialCurve3D::defineFromPointsAuto ( const vpMatrix &  points, const vpColVector &  direction, unsigned int  order = 0  )

inherited

Define the polynomial curve to fit as best as possible a set of control points at given parametric values. Parametric values for the different points are automatically computed according to their position along a given straight direction.

Parameters

points	The desired control points.
direction	The direction used to compute the parametric values associated to each point.
order	The order of the resulting polynomial curve (keep the current order of the curve if given value is <1 (default))

Definition at line 502 of file usPolynomialCurve3D.cpp.

References usPolynomialCurve3D::defineFromPoints(), usPolynomialCurve3D::getParametricLength(), usPolynomialCurve3D::m_order, and usPolynomialCurve3D::m_startParameter.

defineFromPointsAuto() [4/4]

void usPolynomialCurve3D::defineFromPointsAuto ( const vpMatrix &  points, unsigned int  order = 0  )

inherited

Define the polynomial curve to fit as best as possible a set of control points. Parametric values for the different points are automatically computed.

Parameters

points	The desired control points.
order	The order of the resulting polynomial curve (keep the current order of the curve if given value is <1 (default))

Definition at line 424 of file usPolynomialCurve3D.cpp.

References usPolynomialCurve3D::defineFromPointsAuto(), and usPolynomialCurve3D::m_order.

defineFromWeightedPoints() [1/2]

void usPolynomialCurve3D::defineFromWeightedPoints ( const std::vector< vpColVector > &  points, const std::vector< double > &  param, const std::vector< double > &  weights, unsigned int  order = 0  )

inherited

Define the polynomial curve to fit as best as possible a set of weighted control points at given parametric values.

Parameters

points	The desired control points.
param	The desired parametric values.
weights	Set of weights describing the importance of fitting each point with the curve.
order	The order of the resulting polynomial curve (keep the current order of the curve if given value is <1 (default))

Examples

testUsPolynomialCurve3D.cpp.

Definition at line 553 of file usPolynomialCurve3D.cpp.

References usPolynomialCurve3D::m_order, usPolynomialCurve3D::setBoundaries(), and usPolynomialCurve3D::setPolynomialCoefficients().

Referenced by usPolynomialCurve3D::defineFromWeightedPointsAuto().

defineFromWeightedPoints() [2/2]

void usPolynomialCurve3D::defineFromWeightedPoints ( const vpMatrix &  points, const vpColVector &  param, const vpColVector &  weights, unsigned int  order = 0  )

inherited

Define the polynomial curve to fit as best as possible a set of weighted control points at given parametric values.

Parameters

points	The desired control points.
param	The desired parametric values.
weights	Set of weights describing the importance of fitting each point with the curve.
order	The order of the resulting polynomial curve (keep the current order of the curve if given value is <1 (default))

Definition at line 617 of file usPolynomialCurve3D.cpp.

References usPolynomialCurve3D::m_order, usPolynomialCurve3D::setBoundaries(), and usPolynomialCurve3D::setPolynomialCoefficients().

defineFromWeightedPointsAuto() [1/4]

void usPolynomialCurve3D::defineFromWeightedPointsAuto ( const std::vector< vpColVector > &  points, const std::vector< double > &  weights, const vpColVector &  direction, unsigned int  order = 0  )

inherited

Define the polynomial curve to fit as best as possible a set of control points at given parametric values. Parametric values for the different points are automatically computed according to their position along a given straight direction.

Parameters

points	The desired control points.
weights	Set of weights describing the importance of fitting each point with the curve.
direction	The direction used to compute the parametric values associated to each point.
order	The order of the resulting polynomial curve (keep the current order of the curve if given value is <1 (default))

Definition at line 826 of file usPolynomialCurve3D.cpp.

References usPolynomialCurve3D::defineFromWeightedPoints(), usPolynomialCurve3D::getParametricLength(), usPolynomialCurve3D::m_order, and usPolynomialCurve3D::m_startParameter.

defineFromWeightedPointsAuto() [2/4]

void usPolynomialCurve3D::defineFromWeightedPointsAuto ( const std::vector< vpColVector > &  points, const std::vector< double > &  weights, unsigned int  order = 0  )

inherited

Define the polynomial curve to fit as best as possible a set of control points at given parametric values. Parametric values for the different points are automatically computed.

Parameters

points	The desired control points.
weights	Set of weights describing the importance of fitting each point with the curve.
order	The order of the resulting polynomial curve (keep the current order of the curve if given value is <1 (default))

Examples

testUsPolynomialCurve3D.cpp.

Definition at line 678 of file usPolynomialCurve3D.cpp.

References usPolynomialCurve3D::defineFromWeightedPoints(), usPolynomialCurve3D::getParametricLength(), usPolynomialCurve3D::m_order, and usPolynomialCurve3D::m_startParameter.

defineFromWeightedPointsAuto() [3/4]

void usPolynomialCurve3D::defineFromWeightedPointsAuto ( const vpMatrix &  points, const vpColVector &  weights, const vpColVector &  direction, unsigned int  order = 0  )

inherited

Define the polynomial curve to fit as best as possible a set of control points at given parametric values. Parametric values for the different points are automatically computed according to their position along a given straight direction.

Parameters

points	The desired control points.
weights	Set of weights describing the importance of fitting each point with the curve.
direction	The direction used to compute the parametric values associated to each point.
order	The order of the resulting polynomial curve (keep the current order of the curve if given value is <1 (default))

Definition at line 886 of file usPolynomialCurve3D.cpp.

References usPolynomialCurve3D::defineFromWeightedPoints(), usPolynomialCurve3D::getParametricLength(), usPolynomialCurve3D::m_order, and usPolynomialCurve3D::m_startParameter.

defineFromWeightedPointsAuto() [4/4]

void usPolynomialCurve3D::defineFromWeightedPointsAuto ( const vpMatrix &  points, const vpColVector &  weights, unsigned int  order = 0  )

inherited

Define the polynomial curve to fit as best as possible a set of control points at given parametric values. Parametric values for the different points are automatically computed.

Parameters

points	The desired control points.
weights	Set of weights describing the importance of fitting each point with the curve.
order	The order of the resulting polynomial curve (keep the current order of the curve if given value is <1 (default))

Definition at line 751 of file usPolynomialCurve3D.cpp.

References usPolynomialCurve3D::defineFromWeightedPoints(), usPolynomialCurve3D::getParametricLength(), usPolynomialCurve3D::m_order, and usPolynomialCurve3D::m_startParameter.

getBaseDirection()

vpColVector usNeedleModelBaseTip::getBaseDirection ( ) const

inherited

Definition at line 66 of file usNeedleModelBaseTip.cpp.

References usNeedleModelBaseTip::m_worldMbase.

getBasePose()

vpPoseVector usNeedleModelBaseTip::getBasePose ( ) const

inherited

Parameters setters and getters.

Definition at line 60 of file usNeedleModelBaseTip.cpp.

References usNeedleModelBaseTip::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

inherited

Definition at line 64 of file usNeedleModelBaseTip.cpp.

References usNeedleModelBaseTip::m_basePose.

Referenced by usNeedleInsertionModelRayleighRitzSpline::cutPathToPoint().

getBaseStaticTorsor()

vpColVector usNeedleModelPolynomial::getBaseStaticTorsor

(

)

const

Force at base.

Definition at line 238 of file usNeedleModelPolynomial.cpp.

References usPolynomialCurve3D::getDerivative(), getEI(), and usPolynomialCurve3D::getStartTangent().

Referenced by usNeedleModelingDisplayTools::displayBaseStaticTorsor().

getBendingEnergy()

double usNeedleModelPolynomial::getBendingEnergy

(

)

const

Needle bending.

Definition at line 211 of file usNeedleModelPolynomial.cpp.

References getEI(), usPolynomialCurve3D::m_endParameter, usPolynomialCurve3D::m_order, usPolynomialCurve3D::m_polynomialCoefficients, and usPolynomialCurve3D::m_startParameter.

getControlPoints()

vpMatrix usPolynomialCurve3D::getControlPoints ( ) const

inherited

Get the control points. (to remove)

Examples

testUsPolynomialCurve3D.cpp.

Definition at line 1117 of file usPolynomialCurve3D.cpp.

References usPolynomialCurve3D::getParametricLength(), usPolynomialCurve3D::getPoints(), usPolynomialCurve3D::getStartPoint(), usPolynomialCurve3D::m_order, and usPolynomialCurve3D::m_startParameter.

getCurvature()

double usPolynomialCurve3D::getCurvature ( double  param ) const

inherited

Get the curvature of the curve at a specific point.

Parameters

param

Parametric value where the curvature should be computed.

Examples

testUsPolynomialCurve3D.cpp.

Definition at line 945 of file usPolynomialCurve3D.cpp.

References usPolynomialCurve3D::getDerivative().

getCurvatureFromNeedleShape()

double usNeedleModelPolynomial::getCurvatureFromNeedleShape	(	double	start,
		double	end,
		vpColVector &	center3D,
		vpColVector &	direction3D
	)		const

Curvature.

Definition at line 261 of file usNeedleModelPolynomial.cpp.

References usPolynomialCurve3D::getParametricLength(), usPolynomialCurve3D::m_endParameter, and usPolynomialCurve3D::m_startParameter.

getCurvatureFromShape()

double usPolynomialCurve3D::getCurvatureFromShape ( double  start, double  end, vpColVector &  center3D, vpColVector &  direction3D  ) const

inherited

Get the approximate curvature of a portion of the curve

Parameters

start	Starting parametric value of the portion of the curve.
end	Ending parametric value of the portion of the curve.
center3D	Center of the circle fitting the portion of the curve.
direction3D	Normal of the circle fitting the portion of the curve.

Definition at line 956 of file usPolynomialCurve3D.cpp.

References usPolynomialCurve3D::getParametricLength(), and usPolynomialCurve3D::getPoints().

Referenced by usGeometryDisplayTools::displayCurvatureFromShape().

getDerivative()

vpColVector usPolynomialCurve3D::getDerivative ( double  parameter, unsigned int  order  ) const

inherited

Get the derivative of the polynmial curve at a given parametric value.

Examples

testUsPolynomialCurve3D.cpp.

Definition at line 257 of file usPolynomialCurve3D.cpp.

References usPolynomialCurve3D::m_order, and usPolynomialCurve3D::m_polynomialCoefficients.

Referenced by getBaseStaticTorsor(), usNeedleModelSpline::getBaseStaticTorsor(), usNeedleModelSpline::getBendingEnergy(), and usPolynomialCurve3D::getCurvature().

getDistanceFromPoint()

double usNeedleModelPolynomial::getDistanceFromPoint	(	const vpColVector &	P,
		double	start = 0,
		double	stop = -1,
		double	threshold = 1e-5
	)		const

Definition at line 172 of file usNeedleModelPolynomial.cpp.

References getNeedlePoint(), and usPolynomialCurve3D::m_endParameter.

getEI()

double usNeedleModelPolynomial::getEI

(

)

const

Definition at line 143 of file usNeedleModelPolynomial.cpp.

References m_insideDiameter, m_needleYoungModulus, and m_outerDiameter.

Referenced by getBaseStaticTorsor(), and getBendingEnergy().

getEndParameter()

double usPolynomialCurve3D::getEndParameter ( ) const

inherited

Get the ending value of the parametric variable of the polynomial curve.

Examples

testUsPolynomialCurve3D.cpp.

Definition at line 144 of file usPolynomialCurve3D.cpp.

References usPolynomialCurve3D::m_endParameter.

Referenced by usGeometryDisplayTools::display(), usNeedleModelSpline::getBendingEnergy(), usGeometryTools::getPlaneCurveCrossingPoint(), and usGeometryTools::projectPointOnCurve().

getEndPoint()

vpColVector usPolynomialCurve3D::getEndPoint ( ) const

inherited

Get the ending extremity of the polynomial curve.

Examples

testUsPolynomialCurve3D.cpp.

Definition at line 239 of file usPolynomialCurve3D.cpp.

References usPolynomialCurve3D::getPoint(), and usPolynomialCurve3D::m_endParameter.

Referenced by usNeedleInsertionModelVirtualSprings::addInsertionPoint(), usNeedleInsertionModelVirtualSprings::addInsertionPointOnSegmentHard(), usNeedleInsertionModelRayleighRitzSpline::cutPathToPoint(), usGeometryDisplayTools::displayExtremities(), usNeedleModelingDisplayTools::displayNeedle(), usGeometryTools::DoesSegmentCrossPlane(), usGeometryTools::DoesSegmentCrossPlaneDirect(), usNeedleInsertionModelVirtualSprings::getMaxTissueStretch(), usNeedleInsertionModelVirtualSprings::getMeanTissueStretch(), usNeedleInsertionModelRayleighRitzSpline::getNeedleFreeLength(), usNeedleInsertionModelVirtualSprings::getNeedleInsertionPoint(), usNeedleInsertionModelVirtualSprings::getTissueDeformationEnergy(), usGeometryTools::projectPointOnCurve(), usNeedleInsertionModelVirtualSprings::setSurfaceAtTip(), usNeedleInsertionModelVirtualSprings::solveSegmentsParametersOpenCV(), usNeedleInsertionModelVirtualSprings::solveSegmentsParametersSparseEigen(), usNeedleInsertionModelVirtualSprings::solveSegmentsParametersViSP(), usNeedleInsertionModelRayleighRitzSpline::updatePath(), usNeedleInsertionModelRayleighRitzSpline::updateState(), and usNeedleInsertionModelRayleighRitzSpline::updateTipPose().

getEndTangent()

vpColVector usPolynomialCurve3D::getEndTangent ( ) const

inherited

Get the tangent vector at the starting extremity of the polynomial curve.

Examples

testUsPolynomialCurve3D.cpp.

Definition at line 255 of file usPolynomialCurve3D.cpp.

References usPolynomialCurve3D::getTangent(), and usPolynomialCurve3D::m_endParameter.

Referenced by usNeedleInsertionModelVirtualSprings::addInsertionPointOnSegmentHard(), usNeedleModelingDisplayTools::displayNeedle(), usNeedleInsertionModelVirtualSprings::setSurfaceAtTip(), usNeedleInsertionModelVirtualSprings::solveSegmentsParametersOpenCV(), usNeedleInsertionModelVirtualSprings::solveSegmentsParametersSparseEigen(), usNeedleInsertionModelVirtualSprings::solveSegmentsParametersViSP(), usNeedleInsertionModelVirtualSprings::updateInsertionDirections(), usNeedleInsertionModelRayleighRitzSpline::updatePath(), usNeedleInsertionModelRayleighRitzSpline::updateState(), and usNeedleInsertionModelRayleighRitzSpline::updateTipPose().

getInsideDiameter()

double usNeedleModelPolynomial::getInsideDiameter

(

)

const

Definition at line 133 of file usNeedleModelPolynomial.cpp.

References m_insideDiameter.

getLength()

double usPolynomialCurve3D::getLength ( int  nbCountSeg = 50 ) const

inherited

Get the curve length in metric space.

Examples

testUsPolynomialCurve3D.cpp.

Definition at line 186 of file usPolynomialCurve3D.cpp.

References usPolynomialCurve3D::getParametricLength(), usPolynomialCurve3D::getPoints(), and usPolynomialCurve3D::m_startParameter.

Referenced by usPolynomialCurve3D::changeCoefficientsToFitMetricLength(), usNeedleInsertionModelVirtualSprings::computeSegmentsLengths(), usNeedleInsertionModelRayleighRitzSpline::fitLength(), usPolynomialCurve3D::setLength(), usNeedleInsertionModelRayleighRitzSpline::solveSegmentsParametersDense(), usNeedleInsertionModelRayleighRitzSpline::solveSegmentsParametersFullSparseEigen(), usNeedleInsertionModelRayleighRitzSpline::solveSegmentsParametersFullSparseEigenFixedLength(), and usNeedleInsertionModelRayleighRitzSpline::solveSegmentsParametersSparseEigen().

getMeanAxisDeviation()

double usPolynomialCurve3D::getMeanAxisDeviation ( int  nbCountSeg = 50 ) const

inherited

Get the mean deviation of the polynomial with respect to the straight axis between the two extremities.

Parameters

nbCountSeg

number of segments used to approximate the deviation.

Examples

testUsPolynomialCurve3D.cpp.

Definition at line 1072 of file usPolynomialCurve3D.cpp.

References usPolynomialCurve3D::getParametricLength(), usPolynomialCurve3D::getPoints(), and usPolynomialCurve3D::m_startParameter.

getNeedleDirection()

vpColVector usNeedleModelPolynomial::getNeedleDirection

(

double

l

)

const

Definition at line 164 of file usNeedleModelPolynomial.cpp.

References usPolynomialCurve3D::getTangent(), and usPolynomialCurve3D::m_endParameter.

getNeedlePoint()

vpColVector usNeedleModelPolynomial::getNeedlePoint

(

double

l

)

const

Measure model information.

Needle position

Definition at line 156 of file usNeedleModelPolynomial.cpp.

References usPolynomialCurve3D::getPoint(), and usPolynomialCurve3D::m_endParameter.

Referenced by getDistanceFromPoint().

getNeedleYoungModulus()

double usNeedleModelPolynomial::getNeedleYoungModulus

(

)

const

Definition at line 141 of file usNeedleModelPolynomial.cpp.

References m_needleYoungModulus.

getNewOrderPolynomialCurve()

usPolynomialCurve3D usPolynomialCurve3D::getNewOrderPolynomialCurve ( unsigned int  order ) const

inherited

Get new curve with new polynomial order.

Examples

testUsPolynomialCurve3D.cpp.

Definition at line 1176 of file usPolynomialCurve3D.cpp.

References usPolynomialCurve3D::setOrder().

getOrder()

unsigned int usPolynomialCurve3D::getOrder ( ) const

inherited

Get the order of the polynomial curve.

Examples

testUsPolynomialCurve3D.cpp.

Definition at line 136 of file usPolynomialCurve3D.cpp.

References usPolynomialCurve3D::m_order.

Referenced by usPolynomialCurve3D::curveDistance(), usNeedleModelingDisplayTools::displayNeedle(), usNeedleModelSpline::getBendingEnergy(), usNeedleInsertionModelRayleighRitzSpline::solveSegmentsParametersDense(), usNeedleInsertionModelRayleighRitzSpline::solveSegmentsParametersFullSparseEigen(), usNeedleInsertionModelRayleighRitzSpline::solveSegmentsParametersFullSparseEigenFixedLength(), and usNeedleInsertionModelRayleighRitzSpline::solveSegmentsParametersSparseEigen().

getOuterDiameter()

double usNeedleModelPolynomial::getOuterDiameter

(

)

const

Definition at line 125 of file usNeedleModelPolynomial.cpp.

References m_outerDiameter.

Referenced by usNeedleModelingDisplayTools::displayNeedle().

getParametricLength()

double usPolynomialCurve3D::getParametricLength ( ) const

inherited

Get the length of the curve in the parametric variable space.

Examples

testUsPolynomialCurve3D.cpp.

Definition at line 160 of file usPolynomialCurve3D.cpp.

References usPolynomialCurve3D::m_endParameter, and usPolynomialCurve3D::m_startParameter.

Referenced by usNeedleInsertionModelVirtualSprings::addInsertionPoint(), usNeedleInsertionModelVirtualSprings::addInsertionPointAtTip(), usNeedleInsertionModelVirtualSprings::addInsertionPointAtTipHard(), usNeedleInsertionModelVirtualSprings::addInsertionPointOnSegment(), usNeedleInsertionModelVirtualSprings::addInsertionPointOnSegmentHard(), usNeedleInsertionModelVirtualSprings::addRemoveSprings(), usBSpline3D::addSegment(), usGeometryTools::convertPolynomialToBSpline(), usPolynomialCurve3D::defineFromPointsAuto(), usPolynomialCurve3D::defineFromWeightedPointsAuto(), usNeedleModelingDisplayTools::displayNeedle(), usNeedleModelingDisplayTools::displayTissueLayers(), usNeedleInsertionModelVirtualSprings::fusionSprings(), usPolynomialCurve3D::getControlPoints(), usNeedleInsertionModelRayleighRitzSpline::getCorrespondingPathPoint(), getCurvatureFromNeedleShape(), usPolynomialCurve3D::getCurvatureFromShape(), usNeedleInsertionModelVirtualSprings::getInsertionDepth(), usPolynomialCurve3D::getLength(), usNeedleInsertionModelRayleighRitzSpline::getMaxTissueStretch(), usNeedleInsertionModelVirtualSprings::getMaxTissueStretch(), usPolynomialCurve3D::getMeanAxisDeviation(), usNeedleInsertionModelRayleighRitzSpline::getMeanTissueStretch(), usNeedleInsertionModelVirtualSprings::getMeanTissueStretch(), usNeedleInsertionModelVirtualSprings::getNeedleFreeLength(), usNeedleInsertionModelRayleighRitzSpline::getNeedleFreeLength(), usGeometryTools::getPlaneCurveCrossingPoint(), usPolynomialCurve3D::getRenderingPoints(), usBSpline3D::getSubSpline(), usNeedleInsertionModelRayleighRitzSpline::getTissueDeformationEnergy(), usNeedleInsertionModelVirtualSprings::removeInsertionPoints(), usNeedleInsertionModelVirtualSprings::removeInsertionPointsHard(), usPolynomialCurve3D::setLength(), usNeedleInsertionModelRayleighRitzSpline::solveSegmentsParametersDense(), usNeedleInsertionModelRayleighRitzSpline::solveSegmentsParametersFullSparseEigen(), usNeedleInsertionModelRayleighRitzSpline::solveSegmentsParametersFullSparseEigenFixedLength(), usNeedleInsertionModelVirtualSprings::solveSegmentsParametersOpenCV(), usNeedleInsertionModelRayleighRitzSpline::solveSegmentsParametersSparseEigen(), usNeedleInsertionModelVirtualSprings::solveSegmentsParametersSparseEigen(), usNeedleInsertionModelVirtualSprings::solveSegmentsParametersViSP(), usNeedleInsertionModelRayleighRitzSpline::updatePath(), usNeedleInsertionModelVirtualSprings::updateSpringsStiffness(), and usNeedleInsertionModelVirtualSprings::updateState().

getPoint()

vpColVector usPolynomialCurve3D::getPoint ( double  parameter ) const

inherited

Get the polynomial curve point at a given parametric value.

Examples

testUsPolynomialCurve3D.cpp.

Definition at line 217 of file usPolynomialCurve3D.cpp.

References usPolynomialCurve3D::m_order, and usPolynomialCurve3D::m_polynomialCoefficients.

Referenced by usNeedleInsertionModelVirtualSprings::addInsertionPoint(), usTissueTranslationEstimatorUKF::computeMeasureFromSigmaPoint(), usGeometryTools::convertPolynomialToBSpline(), usNeedleModelingDisplayTools::displayInteraction(), usNeedleModelingDisplayTools::displayNeedle(), usPolynomialCurve3D::getEndPoint(), usNeedleInsertionModelRayleighRitzSpline::getMaxTissueStretch(), usNeedleInsertionModelRayleighRitzSpline::getMeanTissueStretch(), getNeedlePoint(), usGeometryTools::getNormalPlane(), usGeometryTools::getPlaneCurveCrossingPoint(), usTissueModelPolynomial::getPose(), usPolynomialCurve3D::getStartPoint(), usNeedleInsertionModelRayleighRitzSpline::getTissueDeformationEnergy(), and usGeometryTools::projectPointOnCurve().

getPoints()

vpMatrix usPolynomialCurve3D::getPoints ( const vpColVector &  parameters ) const

inherited

Get the polynomial curve points at given parametric values.

Examples

testUsPolynomialCurve3D.cpp.

Definition at line 226 of file usPolynomialCurve3D.cpp.

References usPolynomialCurve3D::m_order, and usPolynomialCurve3D::m_polynomialCoefficients.

Referenced by usGeometryDisplayTools::display(), usPolynomialCurve3D::getControlPoints(), usPolynomialCurve3D::getCurvatureFromShape(), usPolynomialCurve3D::getLength(), usPolynomialCurve3D::getMeanAxisDeviation(), and usPolynomialCurve3D::getRenderingPoints().

getPolynomialCoefficients()

vpMatrix usPolynomialCurve3D::getPolynomialCoefficients ( ) const

inherited

Get the polynomial coefficients.

Examples

testUsPolynomialCurve3D.cpp.

Definition at line 215 of file usPolynomialCurve3D.cpp.

References usPolynomialCurve3D::m_polynomialCoefficients.

Referenced by usPolynomialCurve3D::curveDistance(), usNeedleModelSpline::getBendingEnergy(), usNeedleInsertionModelRayleighRitzSpline::solveSegmentsParametersDense(), usNeedleInsertionModelRayleighRitzSpline::solveSegmentsParametersFullSparseEigen(), usNeedleInsertionModelRayleighRitzSpline::solveSegmentsParametersFullSparseEigenFixedLength(), and usNeedleInsertionModelRayleighRitzSpline::solveSegmentsParametersSparseEigen().

getRenderingPoints()

vpMatrix usPolynomialCurve3D::getRenderingPoints ( ) const

inherited

Get the rendering points. (to remove)

Examples

testUsPolynomialCurve3D.cpp.

Definition at line 1131 of file usPolynomialCurve3D.cpp.

References usPolynomialCurve3D::getParametricLength(), usPolynomialCurve3D::getPoints(), usPolynomialCurve3D::m_order, and usPolynomialCurve3D::m_startParameter.

getStartParameter()

double usPolynomialCurve3D::getStartParameter ( ) const

inherited

Get the starting value of the parametric variable of the polynomial curve.

Examples

testUsPolynomialCurve3D.cpp.

Definition at line 140 of file usPolynomialCurve3D.cpp.

References usPolynomialCurve3D::m_startParameter.

Referenced by usGeometryDisplayTools::display(), usNeedleModelSpline::getBendingEnergy(), usGeometryTools::getPlaneCurveCrossingPoint(), and usGeometryTools::projectPointOnCurve().

getStartPoint()

vpColVector usPolynomialCurve3D::getStartPoint ( ) const

inherited

Get the starting extremity of the polynomial curve.

Examples

testUsPolynomialCurve3D.cpp.

Definition at line 237 of file usPolynomialCurve3D.cpp.

References usPolynomialCurve3D::getPoint(), and usPolynomialCurve3D::m_startParameter.

Referenced by usNeedleInsertionModelVirtualSprings::addInsertionPoint(), usNeedleInsertionModelVirtualSprings::addInsertionPointOnSegmentHard(), usNeedleModelingDisplayTools::displayBaseStaticTorsor(), usGeometryDisplayTools::displayExtremities(), usNeedleModelingDisplayTools::displayNeedle(), usGeometryTools::DoesSegmentCrossPlane(), usGeometryTools::DoesSegmentCrossPlaneDirect(), usPolynomialCurve3D::getControlPoints(), usNeedleInsertionModelRayleighRitzSpline::getNeedleFreeLength(), usGeometryTools::getPlaneCurveCrossingPoint(), and usGeometryTools::projectPointOnCurve().

getStartTangent()

vpColVector usPolynomialCurve3D::getStartTangent ( ) const

inherited

Get the tangent vector at the starting extremity of the polynomial curve.

Examples

testUsPolynomialCurve3D.cpp.

Definition at line 253 of file usPolynomialCurve3D.cpp.

References usPolynomialCurve3D::getTangent(), and usPolynomialCurve3D::m_startParameter.

Referenced by usNeedleModelingDisplayTools::displayNeedle(), getBaseStaticTorsor(), usNeedleModelSpline::getBaseStaticTorsor(), usNeedleInsertionModelVirtualSprings::solveSegmentsParametersOpenCV(), usNeedleInsertionModelVirtualSprings::solveSegmentsParametersSparseEigen(), usNeedleInsertionModelVirtualSprings::solveSegmentsParametersViSP(), and usNeedleInsertionModelRayleighRitzSpline::updateTipPose().

getSubPolynomialCurve()

usPolynomialCurve3D usPolynomialCurve3D::getSubPolynomialCurve ( double  startParameter, double  endParameter  ) const

inherited

Get new curve starting at different parametric coefficients .

Examples

testUsPolynomialCurve3D.cpp.

Definition at line 1167 of file usPolynomialCurve3D.cpp.

References usPolynomialCurve3D::setBoundaries().

Referenced by usNeedleInsertionModelVirtualSprings::addInsertionPointOnSegmentHard(), usNeedleInsertionModelRayleighRitzSpline::solveSegmentsParametersDense(), usNeedleInsertionModelRayleighRitzSpline::solveSegmentsParametersFullSparseEigen(), usNeedleInsertionModelRayleighRitzSpline::solveSegmentsParametersFullSparseEigenFixedLength(), and usNeedleInsertionModelRayleighRitzSpline::solveSegmentsParametersSparseEigen().

getTangent()

vpColVector usPolynomialCurve3D::getTangent ( double  parameter ) const

inherited

Get the tangent vector at a given parametric value.

Examples

testUsPolynomialCurve3D.cpp.

Definition at line 241 of file usPolynomialCurve3D.cpp.

References usPolynomialCurve3D::m_order, and usPolynomialCurve3D::m_polynomialCoefficients.

Referenced by usNeedleModelingDisplayTools::displayNeedle(), usPolynomialCurve3D::getEndTangent(), getNeedleDirection(), usGeometryTools::getNormalPlane(), and usPolynomialCurve3D::getStartTangent().

getTipDirection()

vpColVector usNeedleModelBaseTip::getTipDirection ( ) const

inherited

Examples

testUsNeedleInsertionModelRayleighRitzSpline.cpp.

Definition at line 82 of file usNeedleModelBaseTip.cpp.

References usNeedleModelBaseTip::m_worldMtip.

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

getTipPose()

vpPoseVector usNeedleModelBaseTip::getTipPose ( ) const

inherited

Examples

testUsNeedleInsertionModelKinematic.cpp.

Definition at line 77 of file usNeedleModelBaseTip.cpp.

References usNeedleModelBaseTip::m_tipPose.

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

getTipPosition()

vpColVector usNeedleModelBaseTip::getTipPosition ( ) const

inherited

Examples

testUsNeedleInsertionModelRayleighRitzSpline.cpp, and testUsNeedleJacobians.cpp.

Definition at line 80 of file usNeedleModelBaseTip.cpp.

References usNeedleModelBaseTip::m_tipPose.

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

getWorldMbase()

vpHomogeneousMatrix usNeedleModelBaseTip::getWorldMbase ( ) const

inherited

Definition at line 62 of file usNeedleModelBaseTip.cpp.

References usNeedleModelBaseTip::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

inherited

Definition at line 78 of file usNeedleModelBaseTip.cpp.

References usNeedleModelBaseTip::m_worldMtip.

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

init()

void usNeedleModelPolynomial::init

(

)

Spline definition.

Definition at line 148 of file usNeedleModelPolynomial.cpp.

References usPolynomialCurve3D::setBoundaries(), and usPolynomialCurve3D::setPolynomialCoefficients().

Referenced by usNeedleModelPolynomial().

loadPreset()

void usNeedleModelPolynomial::loadPreset

(

const NeedlePreset

preset

)

Parameters saving and loading.

Definition at line 71 of file usNeedleModelPolynomial.cpp.

References AbayazidRRM13, BiopsyCannula, BiopsyNeedle, MisraRSRO10_PlastisolA, RoesthuisAM12, setInsideDiameter(), setNeedleYoungModulus(), setOuterDiameter(), usPolynomialCurve3D::setParametricLength(), and SteelSoftTissue.

move() [1/2]

void usPolynomialCurve3D::move ( const vpHomogeneousMatrix &  H )

inherited

Apply an homogeneous transformation to the polynomial curve.

Examples

testUsBSpline3D.cpp, and testUsPolynomialCurve3D.cpp.

Definition at line 1236 of file usPolynomialCurve3D.cpp.

References usPolynomialCurve3D::m_polynomialCoefficients, and usPolynomialCurve3D::setPolynomialCoefficients().

Referenced by usTissueModelPolynomial::move(), usPolynomialCurve3D::move(), usTissueModelPolynomial::moveInWorldFrame(), and usTissueModelPolynomial::setPose().

move() [2/2]

void usPolynomialCurve3D::move ( double  x, double  y, double  z, double  tx, double  ty, double  tz  )

inherited

Apply an homogeneous transformation to the polynomial curve.

Definition at line 1246 of file usPolynomialCurve3D.cpp.

References usPolynomialCurve3D::move().

moveBase() [1/5]

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

inherited

Definition at line 139 of file usNeedleModelBaseTip.cpp.

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

moveBase() [2/5]

void usNeedleModelBaseTip::moveBase ( const vpColVector &  v )

inherited

Definition at line 169 of file usNeedleModelBaseTip.cpp.

References usNeedleModelBaseTip::moveBase().

moveBase() [3/5]

void usNeedleModelBaseTip::moveBase ( const vpHomogeneousMatrix &  Hmotion )

inherited

Definition at line 179 of file usNeedleModelBaseTip.cpp.

References usNeedleModelBaseTip::m_worldMbase, and usNeedleModelBaseTip::setBasePose().

moveBase() [4/5]

void usNeedleModelBaseTip::moveBase ( const vpPoseVector &  pose )

inherited

Definition at line 162 of file usNeedleModelBaseTip.cpp.

References usNeedleModelBaseTip::moveBase().

moveBase() [5/5]

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

inherited

Definition at line 155 of file usNeedleModelBaseTip.cpp.

References usNeedleModelBaseTip::moveBase().

moveBaseWorldFrame() [1/5]

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

inherited

Definition at line 187 of file usNeedleModelBaseTip.cpp.

Referenced by usNeedleModelBaseTip::moveBaseWorldFrame().

moveBaseWorldFrame() [2/5]

void usNeedleModelBaseTip::moveBaseWorldFrame ( const vpColVector &  v )

inherited

Definition at line 218 of file usNeedleModelBaseTip.cpp.

References usNeedleModelBaseTip::moveBaseWorldFrame().

moveBaseWorldFrame() [3/5]

void usNeedleModelBaseTip::moveBaseWorldFrame ( const vpHomogeneousMatrix &  Hmotion )

inherited

Definition at line 229 of file usNeedleModelBaseTip.cpp.

References usNeedleModelBaseTip::m_worldMbase, and usNeedleModelBaseTip::moveBase().

moveBaseWorldFrame() [4/5]

void usNeedleModelBaseTip::moveBaseWorldFrame ( const vpPoseVector &  pose )

inherited

Definition at line 211 of file usNeedleModelBaseTip.cpp.

References usNeedleModelBaseTip::moveBaseWorldFrame().

moveBaseWorldFrame() [5/5]

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

inherited

Definition at line 203 of file usNeedleModelBaseTip.cpp.

References usNeedleModelBaseTip::moveBaseWorldFrame().

moveTip() [1/5]

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

inherited

Definition at line 246 of file usNeedleModelBaseTip.cpp.

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

moveTip() [2/5]

void usNeedleModelBaseTip::moveTip ( const vpColVector &  v )

inherited

Definition at line 276 of file usNeedleModelBaseTip.cpp.

References usNeedleModelBaseTip::moveTip().

moveTip() [3/5]

void usNeedleModelBaseTip::moveTip ( const vpHomogeneousMatrix &  Hmotion )

inherited

Definition at line 286 of file usNeedleModelBaseTip.cpp.

References usNeedleModelBaseTip::m_worldMtip, and usNeedleModelBaseTip::setTipPose().

moveTip() [4/5]

void usNeedleModelBaseTip::moveTip ( const vpPoseVector &  pose )

inherited

Definition at line 269 of file usNeedleModelBaseTip.cpp.

References usNeedleModelBaseTip::moveTip().

moveTip() [5/5]

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

inherited

Definition at line 262 of file usNeedleModelBaseTip.cpp.

References usNeedleModelBaseTip::moveTip().

moveTipWorldFrame() [1/5]

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

inherited

Definition at line 294 of file usNeedleModelBaseTip.cpp.

Referenced by usNeedleModelBaseTip::moveTipWorldFrame().

moveTipWorldFrame() [2/5]

void usNeedleModelBaseTip::moveTipWorldFrame ( const vpColVector &  v )

inherited

Definition at line 324 of file usNeedleModelBaseTip.cpp.

References usNeedleModelBaseTip::moveTipWorldFrame().

moveTipWorldFrame() [3/5]

void usNeedleModelBaseTip::moveTipWorldFrame ( const vpHomogeneousMatrix &  Hmotion )

inherited

Definition at line 335 of file usNeedleModelBaseTip.cpp.

References usNeedleModelBaseTip::m_worldMtip, and usNeedleModelBaseTip::moveTip().

moveTipWorldFrame() [4/5]

void usNeedleModelBaseTip::moveTipWorldFrame ( const vpPoseVector &  pose )

inherited

Definition at line 317 of file usNeedleModelBaseTip.cpp.

References usNeedleModelBaseTip::moveTipWorldFrame().

moveTipWorldFrame() [5/5]

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

inherited

Definition at line 309 of file usNeedleModelBaseTip.cpp.

References usNeedleModelBaseTip::moveTipWorldFrame().

operator=()

const usNeedleModelPolynomial & usNeedleModelPolynomial::operator=

(

const usNeedleModelPolynomial &

needle

)

Definition at line 60 of file usNeedleModelPolynomial.cpp.

References m_insideDiameter, m_needleYoungModulus, m_outerDiameter, and usNeedleModelBaseTip::operator=().

reverse()

void usPolynomialCurve3D::reverse ( )

inherited

Invert the direction of displacement along the curve with respect to the parametric variable.

Examples

testUsPolynomialCurve3D.cpp.

Definition at line 1227 of file usPolynomialCurve3D.cpp.

References usPolynomialCurve3D::changeCoefficientsToFitBoundaries(), usPolynomialCurve3D::m_endParameter, and usPolynomialCurve3D::m_startParameter.

Referenced by usPolynomialCurve3D::setBoundaries().

scale()

void usPolynomialCurve3D::scale ( double  s )

inherited

Scale the polynomial curve.

Examples

testUsPolynomialCurve3D.cpp.

Definition at line 1251 of file usPolynomialCurve3D.cpp.

References usPolynomialCurve3D::m_polynomialCoefficients.

setBasePose() [1/3]

void usNeedleModelBaseTip::setBasePose ( const vpHomogeneousMatrix &  Hpose )

inherited

Definition at line 110 of file usNeedleModelBaseTip.cpp.

References usNeedleModelBaseTip::m_basePose, and usNeedleModelBaseTip::m_worldMbase.

setBasePose() [2/3]

void usNeedleModelBaseTip::setBasePose ( const vpPoseVector &  pose )

inherited

Definition at line 104 of file usNeedleModelBaseTip.cpp.

References usNeedleModelBaseTip::m_basePose, and usNeedleModelBaseTip::m_worldMbase.

setBasePose() [3/3]

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

inherited

Command of the needle.

Examples

testUsNeedleInsertionModelKinematic.cpp.

Definition at line 93 of file usNeedleModelBaseTip.cpp.

References usNeedleModelBaseTip::m_basePose, and usNeedleModelBaseTip::m_worldMbase.

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

setBoundaries()

void usPolynomialCurve3D::setBoundaries ( double  startParameter, double  endParamter  )

inherited

Set the starting and ending values of the parametric variable of the polynomial curve. If the starting value is higher than the ending value, these values are inverted as well as the direction of displacement along the curve.

Examples

testUsPolynomialCurve3D.cpp.

Definition at line 146 of file usPolynomialCurve3D.cpp.

References usPolynomialCurve3D::m_endParameter, usPolynomialCurve3D::m_startParameter, and usPolynomialCurve3D::reverse().

Referenced by usPolynomialCurve3D::changeCoefficientsToFitMetricLength(), usPolynomialCurve3D::defineFromPoints(), usPolynomialCurve3D::defineFromWeightedPoints(), usPolynomialCurve3D::getSubPolynomialCurve(), init(), and usNeedleModelSpline::init().

setControlPoints() [1/2]

void usPolynomialCurve3D::setControlPoints ( const vpMatrix &  controlPoints )

inherited

Set the control points. The input matrix has to be of size 2xn, where n is the order of the polynomial curve.

Parameters

controlPoints

Reference to the desired control points.

Examples

testUsPolynomialCurve3D.cpp.

Definition at line 1096 of file usPolynomialCurve3D.cpp.

References usPolynomialCurve3D::defineFromPointsAuto().

Referenced by usPolynomialCurve3D::setControlPoints().

setControlPoints() [2/2]

void usPolynomialCurve3D::setControlPoints ( double **  controlPoints )

inherited

Set the control points.

Definition at line 1110 of file usPolynomialCurve3D.cpp.

References usPolynomialCurve3D::m_order, and usPolynomialCurve3D::setControlPoints().

setEndParameter()

void usPolynomialCurve3D::setEndParameter ( double  endParameter )

inherited

Set the ending value of the parametric variable of the polynomial curve.

Examples

testUsPolynomialCurve3D.cpp.

Definition at line 142 of file usPolynomialCurve3D.cpp.

References usPolynomialCurve3D::m_endParameter.

setInsideDiameter()

void usNeedleModelPolynomial::setInsideDiameter

(

double

diameter

)

Definition at line 127 of file usNeedleModelPolynomial.cpp.

References m_insideDiameter.

Referenced by loadPreset().

setLength()

void usPolynomialCurve3D::setLength ( double  length, double  precision = 1e-4  )

inherited

Set the curve length in metric space.

Examples

testUsPolynomialCurve3D.cpp.

Definition at line 162 of file usPolynomialCurve3D.cpp.

References usPolynomialCurve3D::getLength(), usPolynomialCurve3D::getParametricLength(), and usPolynomialCurve3D::m_endParameter.

setNeedleYoungModulus()

void usNeedleModelPolynomial::setNeedleYoungModulus

(

double

E

)

Definition at line 135 of file usNeedleModelPolynomial.cpp.

References m_needleYoungModulus.

Referenced by loadPreset().

setOrder()

void usPolynomialCurve3D::setOrder ( unsigned int  order )

inherited

Change the order of the polynomial curve.

Examples

testUsNeedleInsertionModelRayleighRitzSpline.cpp, testUsNeedleInsertionModelVirtualSprings.cpp, and testUsPolynomialCurve3D.cpp.

Definition at line 67 of file usPolynomialCurve3D.cpp.

References usPolynomialCurve3D::m_endParameter, usPolynomialCurve3D::m_order, usPolynomialCurve3D::m_polynomialCoefficients, and usPolynomialCurve3D::m_startParameter.

Referenced by usPolynomialCurve3D::getNewOrderPolynomialCurve().

setOuterDiameter()

void usNeedleModelPolynomial::setOuterDiameter

(

double

diameter

)

Parameters setters and getters.

Needle parameters

Definition at line 119 of file usNeedleModelPolynomial.cpp.

References m_outerDiameter.

Referenced by loadPreset().

setParametricLength()

void usPolynomialCurve3D::setParametricLength ( double  length )

inherited

Set the length of the curve in the parametric variable space.

Examples

testUsPolynomialCurve3D.cpp.

Definition at line 158 of file usPolynomialCurve3D.cpp.

References usPolynomialCurve3D::m_endParameter, and usPolynomialCurve3D::m_startParameter.

Referenced by usNeedleInsertionModelVirtualSprings::addInsertionPointOnSegmentHard(), usNeedleInsertionModelVirtualSprings::addRemoveSprings(), usNeedleInsertionModelVirtualSprings::computeSegmentsLengths(), usNeedleInsertionModelRayleighRitzSpline::cutPathToPoint(), usBSpline3D::defineFromPoints(), usNeedleInsertionModelRayleighRitzSpline::fitLength(), loadPreset(), usNeedleInsertionModelVirtualSprings::removeInsertionPointsHard(), usNeedleInsertionModelRayleighRitzSpline::solveSegmentsParametersDense(), usNeedleInsertionModelRayleighRitzSpline::solveSegmentsParametersFullSparseEigen(), usNeedleInsertionModelRayleighRitzSpline::solveSegmentsParametersFullSparseEigenFixedLength(), usNeedleInsertionModelRayleighRitzSpline::solveSegmentsParametersSparseEigen(), and usNeedleInsertionModelRayleighRitzSpline::updatePath().

setPolynomialCoefficients()

void usPolynomialCurve3D::setPolynomialCoefficients ( const vpMatrix &  polynomialCoefficients )

inherited

Set the curve polynomial coefficients.

Examples

testUsPolynomialCurve3D.cpp.

Definition at line 202 of file usPolynomialCurve3D.cpp.

References usPolynomialCurve3D::m_order, and usPolynomialCurve3D::m_polynomialCoefficients.

Referenced by usNeedleInsertionModelRayleighRitzSpline::cutPathToPoint(), usBSpline3D::defineFromPoints(), usPolynomialCurve3D::defineFromPoints(), usPolynomialCurve3D::defineFromWeightedPoints(), init(), usNeedleModelSpline::init(), usPolynomialCurve3D::move(), usNeedleInsertionModelRayleighRitzSpline::solveSegmentsParametersDense(), usNeedleInsertionModelRayleighRitzSpline::solveSegmentsParametersFullSparseEigen(), usNeedleInsertionModelRayleighRitzSpline::solveSegmentsParametersFullSparseEigenFixedLength(), usNeedleInsertionModelVirtualSprings::solveSegmentsParametersOpenCV(), usNeedleInsertionModelRayleighRitzSpline::solveSegmentsParametersSparseEigen(), usNeedleInsertionModelVirtualSprings::solveSegmentsParametersSparseEigen(), usNeedleInsertionModelVirtualSprings::solveSegmentsParametersViSP(), and usNeedleInsertionModelRayleighRitzSpline::updatePath().

setStartParameter()

void usPolynomialCurve3D::setStartParameter ( double  startParameter )

inherited

Set the starting value of the parametric variable of the polynomial curve.

Examples

testUsPolynomialCurve3D.cpp.

Definition at line 138 of file usPolynomialCurve3D.cpp.

References usPolynomialCurve3D::m_startParameter.

setTipPose() [1/3]

void usNeedleModelBaseTip::setTipPose ( const vpHomogeneousMatrix &  Hpose )

inherited

Definition at line 133 of file usNeedleModelBaseTip.cpp.

References usNeedleModelBaseTip::m_tipPose, and usNeedleModelBaseTip::m_worldMtip.

setTipPose() [2/3]

void usNeedleModelBaseTip::setTipPose ( const vpPoseVector &  pose )

inherited

Definition at line 127 of file usNeedleModelBaseTip.cpp.

References usNeedleModelBaseTip::m_tipPose, and usNeedleModelBaseTip::m_worldMtip.

setTipPose() [3/3]

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

inherited

Examples

testUsNeedleInsertionModelKinematic.cpp.

Definition at line 116 of file usNeedleModelBaseTip.cpp.

References usNeedleModelBaseTip::m_tipPose, and usNeedleModelBaseTip::m_worldMtip.

Referenced by usNeedleModelBaseTip::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 usNeedleModelPolynomial &  needle  )

friend

Data saving.

Text

Definition at line 365 of file usNeedleModelPolynomial.cpp.

operator<<=

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

friend

Binary.

Definition at line 395 of file usNeedleModelPolynomial.cpp.

operator>>

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

friend

Definition at line 378 of file usNeedleModelPolynomial.cpp.

operator>>=

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

friend

Definition at line 408 of file usNeedleModelPolynomial.cpp.

Member Data Documentation

m_basePose

vpPoseVector usNeedleModelBaseTip::m_basePose

protectedinherited

Definition at line 45 of file usNeedleModelBaseTip.h.

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

m_endParameter

double usPolynomialCurve3D::m_endParameter

protectedinherited

Definition at line 433 of file usPolynomialCurve3D.h.

Referenced by usPolynomialCurve3D::changeCoefficientsToFitBoundaries(), usPolynomialCurve3D::changeCoefficientsToFitMetricLength(), getBendingEnergy(), getCurvatureFromNeedleShape(), getDistanceFromPoint(), usPolynomialCurve3D::getEndParameter(), usPolynomialCurve3D::getEndPoint(), usPolynomialCurve3D::getEndTangent(), getNeedleDirection(), getNeedlePoint(), usPolynomialCurve3D::getParametricLength(), usPolynomialCurve3D::operator=(), usPolynomialCurve3D::reverse(), usPolynomialCurve3D::setBoundaries(), usPolynomialCurve3D::setEndParameter(), usPolynomialCurve3D::setLength(), usPolynomialCurve3D::setOrder(), and usPolynomialCurve3D::setParametricLength().

m_insideDiameter

double usNeedleModelPolynomial::m_insideDiameter

protected

Definition at line 59 of file usNeedleModelPolynomial.h.

Referenced by getEI(), getInsideDiameter(), operator=(), and setInsideDiameter().

m_needleYoungModulus

double usNeedleModelPolynomial::m_needleYoungModulus

protected

Definition at line 60 of file usNeedleModelPolynomial.h.

Referenced by getEI(), getNeedleYoungModulus(), operator=(), and setNeedleYoungModulus().

m_order

unsigned int usPolynomialCurve3D::m_order

protectedinherited

Definition at line 431 of file usPolynomialCurve3D.h.

Referenced by usPolynomialCurve3D::changeCoefficientsToFitBoundaries(), usPolynomialCurve3D::defineFromPoints(), usPolynomialCurve3D::defineFromPointsAuto(), usPolynomialCurve3D::defineFromWeightedPoints(), usPolynomialCurve3D::defineFromWeightedPointsAuto(), getBendingEnergy(), usPolynomialCurve3D::getControlPoints(), usPolynomialCurve3D::getDerivative(), usPolynomialCurve3D::getOrder(), usPolynomialCurve3D::getPoint(), usPolynomialCurve3D::getPoints(), usPolynomialCurve3D::getRenderingPoints(), usPolynomialCurve3D::getTangent(), usPolynomialCurve3D::operator=(), usPolynomialCurve3D::setControlPoints(), usPolynomialCurve3D::setOrder(), and usPolynomialCurve3D::setPolynomialCoefficients().

m_outerDiameter

double usNeedleModelPolynomial::m_outerDiameter

protected

Needle parameters.

Definition at line 58 of file usNeedleModelPolynomial.h.

Referenced by getEI(), getOuterDiameter(), operator=(), and setOuterDiameter().

m_polynomialCoefficients

vpMatrix usPolynomialCurve3D::m_polynomialCoefficients

protectedinherited

Definition at line 434 of file usPolynomialCurve3D.h.

Referenced by usPolynomialCurve3D::changeCoefficientsToFitBoundaries(), getBendingEnergy(), usPolynomialCurve3D::getDerivative(), usPolynomialCurve3D::getPoint(), usPolynomialCurve3D::getPoints(), usPolynomialCurve3D::getPolynomialCoefficients(), usPolynomialCurve3D::getTangent(), usPolynomialCurve3D::move(), usPolynomialCurve3D::operator=(), usPolynomialCurve3D::scale(), usPolynomialCurve3D::setOrder(), and usPolynomialCurve3D::setPolynomialCoefficients().

m_startParameter

double usPolynomialCurve3D::m_startParameter

protectedinherited

Definition at line 432 of file usPolynomialCurve3D.h.

Referenced by usPolynomialCurve3D::changeCoefficientsToFitBoundaries(), usPolynomialCurve3D::changeCoefficientsToFitMetricLength(), usPolynomialCurve3D::defineFromPointsAuto(), usPolynomialCurve3D::defineFromWeightedPointsAuto(), getBendingEnergy(), usPolynomialCurve3D::getControlPoints(), getCurvatureFromNeedleShape(), usPolynomialCurve3D::getLength(), usPolynomialCurve3D::getMeanAxisDeviation(), usPolynomialCurve3D::getParametricLength(), usPolynomialCurve3D::getRenderingPoints(), usPolynomialCurve3D::getStartParameter(), usPolynomialCurve3D::getStartPoint(), usPolynomialCurve3D::getStartTangent(), usPolynomialCurve3D::operator=(), usPolynomialCurve3D::reverse(), usPolynomialCurve3D::setBoundaries(), usPolynomialCurve3D::setOrder(), usPolynomialCurve3D::setParametricLength(), and usPolynomialCurve3D::setStartParameter().

m_tipPose

vpPoseVector usNeedleModelBaseTip::m_tipPose

protectedinherited

Definition at line 48 of file usNeedleModelBaseTip.h.

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

m_worldMbase

vpHomogeneousMatrix usNeedleModelBaseTip::m_worldMbase

protectedinherited

Definition at line 46 of file usNeedleModelBaseTip.h.

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

m_worldMtip

vpHomogeneousMatrix usNeedleModelBaseTip::m_worldMtip

protectedinherited

Definition at line 49 of file usNeedleModelBaseTip.h.

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