usNeedleModelSpline Class Reference

#include <visp3/ustk_needle_modeling/usNeedleModelSpline.h>

Inheritance diagram for usNeedleModelSpline:

Public Types
enum class	NeedlePreset : int {   BiopsyNeedle , BiopsyCannula , Symmetric , AbayazidRRM13 ,   MisraRSRO10_PlastisolA , RoesthuisAM12 , SteelSoftTissue , SRL_ActuatedFBG ,   SRL_BiopsySimple , SRL_BiopsyNID , NDI_Pink_Stylet }

Public Member Functions
	usNeedleModelSpline ()
	usNeedleModelSpline (const usNeedleModelSpline &needle)
virtual	~usNeedleModelSpline ()
const usNeedleModelSpline &	operator= (const usNeedleModelSpline &needle)
virtual usNeedleModelSpline *	clone () const
void	loadPreset (const NeedlePreset preset)
void	setFullLength (double length)
double	getFullLength () const
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
void	showNeedlePoints () const
void	showNeedleDirections () const
void	showNeedleSegmentCoef () const
void	showNeedleSegmentLength () 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)
int	getNbSegments () const
double	getParametricLength () const
double	getLength (int nbSubSeg=50) const
void	addSegment (const usPolynomialCurve3D &seg)
void	insertSegment (int i, const usPolynomialCurve3D &seg)
void	setSegment (int i, const usPolynomialCurve3D &poly)
void	removeLastSegment ()
void	removeSegment (int i)
void	removeSegments (int i, int j)
void	clear ()
void	defineFromPoints (const std::vector< vpColVector > &points, const std::vector< double > &lengths, int order=3)
const usPolynomialCurve3D &	accessSegment (int i) const
usPolynomialCurve3D &	accessSegment (int i)
const usPolynomialCurve3D &	accessLastSegment () const
usPolynomialCurve3D &	accessLastSegment ()
usBSpline3D	getSubSpline (double a, double b) const
bool	move (const vpHomogeneousMatrix &H)
bool	move (double x, double y, double z, double tx, double ty, double tz)
vpColVector	getPoint (double param) const
vpColVector	getTangent (double param) const
bool	getParametersFromLength (double l, int &index, double &param) const
double	getCurvatureFromShape (double start, double end, vpColVector &center3D, vpColVector &direction3D) const

Protected Attributes
double	m_length
double	m_outerDiameter
double	m_insideDiameter
double	m_needleYoungModulus
vpPoseVector	m_basePose
vpHomogeneousMatrix	m_worldMbase
vpPoseVector	m_tipPose
vpHomogeneousMatrix	m_worldMtip
std::vector< usPolynomialCurve3D >	m_spline

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

Detailed Description

Definition at line 43 of file usNeedleModelSpline.h.

Member Enumeration Documentation

NeedlePreset

enum usNeedleModelSpline::NeedlePreset : int

strong

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

Definition at line 46 of file usNeedleModelSpline.h.

Constructor & Destructor Documentation

usNeedleModelSpline() [1/2]

usNeedleModelSpline::usNeedleModelSpline

(

)

Constructors, destructor.

Definition at line 42 of file usNeedleModelSpline.cpp.

References init().

usNeedleModelSpline() [2/2]

usNeedleModelSpline::usNeedleModelSpline

(

const usNeedleModelSpline &

needle

)

Definition at line 50 of file usNeedleModelSpline.cpp.

~usNeedleModelSpline()

usNeedleModelSpline::~usNeedleModelSpline ( )

virtual

Definition at line 58 of file usNeedleModelSpline.cpp.

Member Function Documentation

accessLastSegment() [1/2]

usPolynomialCurve3D & usBSpline3D::accessLastSegment ( )

inherited

Definition at line 402 of file usBSpline3D.cpp.

References usBSpline3D::m_spline.

accessLastSegment() [2/2]

const usPolynomialCurve3D & usBSpline3D::accessLastSegment ( ) const

inherited

Examples

testUsBSpline3D.cpp.

Definition at line 398 of file usBSpline3D.cpp.

References usBSpline3D::m_spline.

Referenced by usNeedleInsertionModelVirtualSprings::addInsertionPoint(), usNeedleInsertionModelVirtualSprings::addInsertionPointAtTip(), usNeedleInsertionModelVirtualSprings::addInsertionPointAtTipHard(), usNeedleInsertionModelVirtualSprings::addInsertionPointOnSegment(), usNeedleInsertionModelVirtualSprings::addInsertionPointOnSegmentHard(), usNeedleInsertionModelVirtualSprings::addRemoveSprings(), usNeedleInsertionModelRayleighRitzSpline::cutPathToPoint(), usGeometryDisplayTools::displayExtremities(), usNeedleModelingDisplayTools::displayNeedle(), usGeometryTools::DoesSegmentCrossPlane(), usGeometryTools::DoesSegmentCrossPlaneDirect(), usNeedleInsertionModelRayleighRitzSpline::fitLength(), usNeedleInsertionModelVirtualSprings::fusionSprings(), usGeometryTools::projectPointOnCurve(), usNeedleInsertionModelVirtualSprings::removeInsertionPoints(), usNeedleInsertionModelVirtualSprings::setSurfaceAtTip(), usNeedleInsertionModelRayleighRitzSpline::solveSegmentsParametersDense(), usNeedleInsertionModelRayleighRitzSpline::solveSegmentsParametersFullSparseEigen(), usNeedleInsertionModelRayleighRitzSpline::solveSegmentsParametersFullSparseEigenFixedLength(), usNeedleInsertionModelVirtualSprings::solveSegmentsParametersOpenCV(), usNeedleInsertionModelRayleighRitzSpline::solveSegmentsParametersSparseEigen(), usNeedleInsertionModelVirtualSprings::solveSegmentsParametersSparseEigen(), usNeedleInsertionModelVirtualSprings::solveSegmentsParametersViSP(), usNeedleInsertionModelRayleighRitzSpline::updatePath(), usNeedleInsertionModelVirtualSprings::updateSpringsStiffness(), usNeedleInsertionModelRayleighRitzSpline::updateState(), and usNeedleInsertionModelRayleighRitzSpline::updateTipPose().

accessSegment() [1/2]

usPolynomialCurve3D & usBSpline3D::accessSegment ( int  i )

inherited

Definition at line 400 of file usBSpline3D.cpp.

References usBSpline3D::m_spline.

accessSegment() [2/2]

const usPolynomialCurve3D & usBSpline3D::accessSegment ( int  i ) const

inherited

Examples

testUsBSpline3D.cpp, testUsNeedleInsertionModelRayleighRitzSpline.cpp, and testUsNeedleInsertionModelVirtualSprings.cpp.

Definition at line 396 of file usBSpline3D.cpp.

References usBSpline3D::m_spline.

Referenced by usNeedleInsertionModelVirtualSprings::addInsertionPoint(), usNeedleInsertionModelVirtualSprings::addInsertionPointOnSegment(), usNeedleInsertionModelVirtualSprings::addInsertionPointOnSegmentHard(), usNeedleInsertionModelVirtualSprings::addRemoveSprings(), usNeedleInsertionModelVirtualSprings::checkInactiveMeasureSprings(), usTissueTranslationEstimatorUKF::computeMeasureFromSigmaPoint(), usNeedleInsertionModelVirtualSprings::computeSegmentsLengths(), usNeedleModelingDisplayTools::displayBaseStaticTorsor(), usGeometryDisplayTools::displayExtremities(), usNeedleModelingDisplayTools::displayInteraction(), usGeometryDisplayTools::displayLine(), usNeedleModelingDisplayTools::displayNeedle(), usNeedleModelingDisplayTools::displayTissueLayers(), usGeometryTools::DoesSegmentCrossPlane(), usGeometryTools::DoesSegmentCrossPlaneDirect(), usNeedleInsertionModelRayleighRitzSpline::fitLength(), usNeedleInsertionModelVirtualSprings::fusionSprings(), usNeedleInsertionModelRayleighRitzSpline::getCorrespondingPathPoint(), usNeedleInsertionModelVirtualSprings::getInsertionDepth(), usNeedleInsertionModelRayleighRitzSpline::getMaxTissueStretch(), usNeedleInsertionModelVirtualSprings::getMaxTissueStretch(), usNeedleInsertionModelRayleighRitzSpline::getMeanTissueStretch(), usNeedleInsertionModelVirtualSprings::getMeanTissueStretch(), usNeedleInsertionModelVirtualSprings::getNeedleFreeLength(), usNeedleInsertionModelRayleighRitzSpline::getNeedleFreeLength(), usNeedleInsertionModelVirtualSprings::getNeedleInsertionPoint(), usGeometryTools::getPlaneCurveCrossingPoint(), usNeedleInsertionModelRayleighRitzSpline::getTissueDeformationEnergy(), usNeedleInsertionModelVirtualSprings::getTissueDeformationEnergy(), usGeometryTools::projectPointOnCurve(), usNeedleInsertionModelVirtualSprings::removeInsertionPoints(), usNeedleInsertionModelVirtualSprings::removeInsertionPointsHard(), usNeedleInsertionModelRayleighRitzSpline::solveSegmentsParametersDense(), usNeedleInsertionModelRayleighRitzSpline::solveSegmentsParametersFullSparseEigen(), usNeedleInsertionModelRayleighRitzSpline::solveSegmentsParametersFullSparseEigenFixedLength(), usNeedleInsertionModelVirtualSprings::solveSegmentsParametersOpenCV(), usNeedleInsertionModelRayleighRitzSpline::solveSegmentsParametersSparseEigen(), usNeedleInsertionModelVirtualSprings::solveSegmentsParametersSparseEigen(), usNeedleInsertionModelVirtualSprings::solveSegmentsParametersViSP(), usNeedleInsertionModelVirtualSprings::updateInsertionDirections(), usNeedleInsertionModelRayleighRitzSpline::updatePath(), usNeedleInsertionModelVirtualSprings::updateSpringsStiffness(), usNeedleInsertionModelVirtualSprings::updateState(), and usNeedleInsertionModelRayleighRitzSpline::updateTipPose().

addSegment()

void usBSpline3D::addSegment ( const usPolynomialCurve3D &  seg )

inherited

Spline definition.

Examples

testUsBSpline3D.cpp.

Definition at line 79 of file usBSpline3D.cpp.

References usPolynomialCurve3D::getParametricLength(), and usBSpline3D::m_spline.

Referenced by usNeedleInsertionModelRayleighRitzSpline::cutPathToPoint(), usBSpline3D::getSubSpline(), usNeedleInsertionModelRayleighRitzSpline::solveSegmentsParametersDense(), usNeedleInsertionModelRayleighRitzSpline::solveSegmentsParametersFullSparseEigen(), usNeedleInsertionModelRayleighRitzSpline::solveSegmentsParametersFullSparseEigenFixedLength(), usNeedleInsertionModelRayleighRitzSpline::solveSegmentsParametersSparseEigen(), and usNeedleInsertionModelRayleighRitzSpline::updatePath().

clear()

void usBSpline3D::clear ( )

inherited

Examples

testUsBSpline3D.cpp.

Definition at line 98 of file usBSpline3D.cpp.

References usBSpline3D::m_spline.

clone()

virtual usNeedleModelSpline* usNeedleModelSpline::clone ( ) const

inlinevirtual

Reimplemented from usBSpline3D.

Definition at line 76 of file usNeedleModelSpline.h.

defineFromPoints()

void usBSpline3D::defineFromPoints ( const std::vector< vpColVector > &  points, const std::vector< double > &  lengths, int  order = 3  )

inherited

Examples

testUsBSpline3D.cpp, and testUsGeometryDisplayTools.cpp.

Definition at line 100 of file usBSpline3D.cpp.

References usBSpline3D::m_spline, usPolynomialCurve3D::setParametricLength(), and usPolynomialCurve3D::setPolynomialCoefficients().

Referenced by usGeometryTools::convertPolynomialToBSpline(), and usNeedleModelingDisplayTools::displayNeedle().

getBaseDirection()

vpColVector usNeedleModelBaseTip::getBaseDirection ( ) const

inherited

Definition at line 65 of file usNeedleModelBaseTip.cpp.

References usNeedleModelBaseTip::m_worldMbase.

getBasePose()

vpPoseVector usNeedleModelBaseTip::getBasePose ( ) const

inherited

Parameters setters and getters.

Definition at line 59 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 63 of file usNeedleModelBaseTip.cpp.

References usNeedleModelBaseTip::m_basePose.

Referenced by usNeedleInsertionModelRayleighRitzSpline::cutPathToPoint().

getBaseStaticTorsor()

vpColVector usNeedleModelSpline::getBaseStaticTorsor

(

)

const

Force at base.

Definition at line 324 of file usNeedleModelSpline.cpp.

References usPolynomialCurve3D::getDerivative(), getEI(), usPolynomialCurve3D::getStartTangent(), and usBSpline3D::m_spline.

Referenced by usTissueTranslationEstimatorUKF::computeMeasureFromSigmaPoint(), and usNeedleModelingDisplayTools::displayBaseStaticTorsor().

getBendingEnergy()

double usNeedleModelSpline::getBendingEnergy

(

)

const

Needle bending.

Definition at line 259 of file usNeedleModelSpline.cpp.

References usPolynomialCurve3D::getDerivative(), getEI(), usPolynomialCurve3D::getEndParameter(), usPolynomialCurve3D::getOrder(), usPolynomialCurve3D::getPolynomialCoefficients(), usPolynomialCurve3D::getStartParameter(), and usBSpline3D::m_spline.

getCurvatureFromNeedleShape()

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

Curvature.

Definition at line 348 of file usNeedleModelSpline.cpp.

References m_length, and usBSpline3D::m_spline.

getCurvatureFromShape()

double usBSpline3D::getCurvatureFromShape ( double  start, double  end, vpColVector &  center3D, vpColVector &  direction3D  ) const

inherited

Curvature.

Examples

testUsBSpline3D.cpp.

Definition at line 557 of file usBSpline3D.cpp.

References usBSpline3D::getParametricLength(), and usBSpline3D::m_spline.

Referenced by usGeometryDisplayTools::displayCurvatureFromShape().

getDistanceFromPoint()

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

Definition at line 220 of file usNeedleModelSpline.cpp.

References getNeedlePoint(), and m_length.

getEI()

double usNeedleModelSpline::getEI

(

)

const

Definition at line 188 of file usNeedleModelSpline.cpp.

References m_insideDiameter, m_needleYoungModulus, and m_outerDiameter.

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

getFullLength()

double usNeedleModelSpline::getFullLength

(

)

const

Examples

testUsNeedleJacobians.cpp.

Definition at line 162 of file usNeedleModelSpline.cpp.

References m_length.

Referenced by usNeedleInsertionModelVirtualSprings::addRemoveSprings(), usNeedleInsertionModelVirtualSprings::computeSegmentsLengths(), usNeedleInsertionModelRayleighRitzSpline::cutPathToPoint(), usNeedleModelingDisplayTools::displayInteraction(), usNeedleInsertionModelRayleighRitzSpline::fitLength(), usNeedleInsertionModelRayleighRitzSpline::getInsertionDepth(), usNeedleInsertionModelVirtualSprings::getInsertionDepth(), usNeedleInsertionModelRayleighRitzSpline::solveSegmentsParametersDense(), usNeedleInsertionModelRayleighRitzSpline::solveSegmentsParametersFullSparseEigen(), usNeedleInsertionModelRayleighRitzSpline::solveSegmentsParametersFullSparseEigenFixedLength(), usNeedleInsertionModelRayleighRitzSpline::solveSegmentsParametersSparseEigen(), and usNeedleInsertionModelRayleighRitzSpline::updatePath().

getInsideDiameter()

double usNeedleModelSpline::getInsideDiameter

(

)

const

Definition at line 178 of file usNeedleModelSpline.cpp.

References m_insideDiameter.

getLength()

double usBSpline3D::getLength ( int  nbSubSeg = 50 ) const

inherited

Examples

testUsBSpline3D.cpp.

Definition at line 70 of file usBSpline3D.cpp.

References usBSpline3D::m_spline.

getNbSegments()

int usBSpline3D::getNbSegments ( ) const

inherited

Parameters setters and getters.

Examples

testUsBSpline3D.cpp, and testUsNeedleJacobians.cpp.

Definition at line 59 of file usBSpline3D.cpp.

References usBSpline3D::m_spline.

Referenced by usNeedleInsertionModelVirtualSprings::addInsertionPoint(), usNeedleInsertionModelVirtualSprings::addInsertionPointAtTip(), usNeedleInsertionModelVirtualSprings::addInsertionPointAtTipHard(), usNeedleInsertionModelVirtualSprings::addInsertionPointOnSegment(), usNeedleInsertionModelVirtualSprings::addInsertionPointOnSegmentHard(), usNeedleInsertionModelVirtualSprings::addRemoveSprings(), usNeedleInsertionModelVirtualSprings::checkInactiveMeasureSprings(), usNeedleInsertionModelVirtualSprings::computeSegmentsLengths(), usNeedleInsertionModelRayleighRitzSpline::cutPathToPoint(), usGeometryDisplayTools::displayExtremities(), usNeedleModelingDisplayTools::displayInteraction(), usGeometryDisplayTools::displayLine(), usNeedleModelingDisplayTools::displayNeedle(), usNeedleModelingDisplayTools::displayTissueLayers(), usNeedleInsertionModelRayleighRitzSpline::fitLength(), usNeedleInsertionModelRayleighRitzSpline::getCorrespondingPathPoint(), usNeedleInsertionModelVirtualSprings::getInsertionDepth(), usNeedleInsertionModelRayleighRitzSpline::getMaxTissueStretch(), usNeedleInsertionModelRayleighRitzSpline::getMeanTissueStretch(), usNeedleInsertionModelRayleighRitzSpline::getNeedleFreeLength(), usGeometryTools::getPlaneCurveCrossingPoint(), usTissueModelSpline::getPose(), usNeedleInsertionModelRayleighRitzSpline::getSurfaceTissueStretch(), usNeedleInsertionModelRayleighRitzSpline::getTissueDeformationEnergy(), usNeedleInsertionModelRayleighRitzSpline::getTissueInsertionPoint(), usGeometryTools::projectPointOnCurve(), usNeedleInsertionModelVirtualSprings::removeInsertionPoints(), usNeedleInsertionModelRayleighRitzSpline::solveSegmentsParametersDense(), usNeedleInsertionModelRayleighRitzSpline::solveSegmentsParametersFullSparseEigen(), usNeedleInsertionModelRayleighRitzSpline::solveSegmentsParametersFullSparseEigenFixedLength(), usNeedleInsertionModelVirtualSprings::solveSegmentsParametersOpenCV(), usNeedleInsertionModelRayleighRitzSpline::solveSegmentsParametersSparseEigen(), usNeedleInsertionModelVirtualSprings::solveSegmentsParametersSparseEigen(), usNeedleInsertionModelVirtualSprings::solveSegmentsParametersViSP(), usNeedleInsertionModelRayleighRitzSpline::updatePath(), usNeedleInsertionModelVirtualSprings::updateSpringsStiffness(), and usNeedleInsertionModelRayleighRitzSpline::updateState().

getNeedleDirection()

vpColVector usNeedleModelSpline::getNeedleDirection

(

double

l

)

const

Definition at line 212 of file usNeedleModelSpline.cpp.

References usBSpline3D::getTangent(), and m_length.

getNeedlePoint()

vpColVector usNeedleModelSpline::getNeedlePoint

(

double

l

)

const

Measure model information.

Needle position

Definition at line 204 of file usNeedleModelSpline.cpp.

References usBSpline3D::getPoint(), and m_length.

Referenced by getDistanceFromPoint().

getNeedleYoungModulus()

double usNeedleModelSpline::getNeedleYoungModulus

(

)

const

Definition at line 186 of file usNeedleModelSpline.cpp.

References m_needleYoungModulus.

getOuterDiameter()

double usNeedleModelSpline::getOuterDiameter

(

)

const

Examples

testUsNeedleInsertionModelRayleighRitzSpline.cpp.

Definition at line 170 of file usNeedleModelSpline.cpp.

References m_outerDiameter.

Referenced by usNeedleInsertionModelVirtualSprings::addInsertionPointOnSegmentHard(), usNeedleModelingDisplayTools::displayNeedle(), usNeedleInsertionModelVirtualSprings::getBevelAngle(), usNeedleInsertionModelRayleighRitzSpline::loadPreset(), usNeedleInsertionModelVirtualSprings::setBevelAngle(), usNeedleInsertionModelVirtualSprings::setSurfaceAtTip(), usNeedleInsertionModelRayleighRitzSpline::updateState(), and usNeedleInsertionModelVirtualSprings::updateTipForce().

getParametersFromLength()

bool usBSpline3D::getParametersFromLength ( double  l, int &  index, double &  param  ) const

inherited

Examples

testUsBSpline3D.cpp.

Definition at line 533 of file usBSpline3D.cpp.

References usBSpline3D::m_spline.

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

getParametricLength()

double usBSpline3D::getParametricLength ( ) const

inherited

Examples

testUsBSpline3D.cpp.

Definition at line 61 of file usBSpline3D.cpp.

References usBSpline3D::m_spline.

Referenced by usGeometryTools::convertBSplineToPolynomial(), usBSpline3D::getCurvatureFromShape(), usBSpline3D::getDistanceFromPoint(), and usNeedleInsertionModelRayleighRitzSpline::updateState().

getPoint()

vpColVector usBSpline3D::getPoint ( double  param ) const

inherited

Measure curve information.

Position

Examples

testUsBSpline3D.cpp, and testUsNeedleJacobians.cpp.

Definition at line 459 of file usBSpline3D.cpp.

References usBSpline3D::m_spline.

Referenced by usGeometryTools::convertBSplineToPolynomial(), usNeedleModelingDisplayTools::displayInteraction(), usBSpline3D::getDistanceFromPoint(), usNeedleInsertionModelRayleighRitzSpline::getNeedleInsertionPoint(), getNeedlePoint(), usTissueModelSpline::getPose(), and usNeedleInsertionModelRayleighRitzSpline::getTissueInsertionPoint().

getSubSpline()

usBSpline3D usBSpline3D::getSubSpline ( double  a, double  b  ) const

inherited

Examples

testUsBSpline3D.cpp.

Definition at line 404 of file usBSpline3D.cpp.

References usBSpline3D::addSegment(), usPolynomialCurve3D::changeCoefficientsToFitBoundaries(), usPolynomialCurve3D::getParametricLength(), and usBSpline3D::m_spline.

getTangent()

vpColVector usBSpline3D::getTangent ( double  param ) const

inherited

Examples

testUsBSpline3D.cpp.

Definition at line 479 of file usBSpline3D.cpp.

References usBSpline3D::m_spline.

Referenced by getNeedleDirection().

getTipDirection()

vpColVector usNeedleModelBaseTip::getTipDirection ( ) const

inherited

Examples

testUsNeedleInsertionModelRayleighRitzSpline.cpp.

Definition at line 81 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 76 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 79 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 61 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 77 of file usNeedleModelBaseTip.cpp.

References usNeedleModelBaseTip::m_worldMtip.

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

init()

void usNeedleModelSpline::init

(

)

Spline definition.

Definition at line 193 of file usNeedleModelSpline.cpp.

References m_length, usBSpline3D::m_spline, usPolynomialCurve3D::setBoundaries(), and usPolynomialCurve3D::setPolynomialCoefficients().

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

insertSegment()

void usBSpline3D::insertSegment ( int  i, const usPolynomialCurve3D &  seg  )

inherited

Examples

testUsBSpline3D.cpp.

Definition at line 85 of file usBSpline3D.cpp.

References usBSpline3D::m_spline.

Referenced by usNeedleInsertionModelVirtualSprings::addInsertionPointOnSegmentHard().

loadPreset()

void usNeedleModelSpline::loadPreset

(

const NeedlePreset

preset

)

Parameters saving and loading.

Definition at line 73 of file usNeedleModelSpline.cpp.

References AbayazidRRM13, BiopsyCannula, BiopsyNeedle, MisraRSRO10_PlastisolA, NDI_Pink_Stylet, RoesthuisAM12, setFullLength(), setInsideDiameter(), setNeedleYoungModulus(), setOuterDiameter(), SRL_ActuatedFBG, SRL_BiopsyNID, SRL_BiopsySimple, SteelSoftTissue, and Symmetric.

Referenced by usNeedleInsertionModelRayleighRitzSpline::loadPreset(), and usNeedleInsertionModelVirtualSprings::loadPreset().

move() [1/2]

bool usBSpline3D::move ( const vpHomogeneousMatrix &  H )

inherited

Move.

Examples

testUsBSpline3D.cpp.

Definition at line 446 of file usBSpline3D.cpp.

References usBSpline3D::m_spline.

Referenced by usTissueModelSpline::move(), usBSpline3D::move(), usTissueModelSpline::moveInWorldFrame(), and usTissueModelSpline::setPose().

move() [2/2]

bool usBSpline3D::move ( double  x, double  y, double  z, double  tx, double  ty, double  tz  )

inherited

Definition at line 454 of file usBSpline3D.cpp.

References usBSpline3D::move().

moveBase() [1/5]

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

inherited

Definition at line 138 of file usNeedleModelBaseTip.cpp.

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

moveBase() [2/5]

void usNeedleModelBaseTip::moveBase ( const vpColVector &  v )

inherited

Definition at line 168 of file usNeedleModelBaseTip.cpp.

References usNeedleModelBaseTip::moveBase().

moveBase() [3/5]

void usNeedleModelBaseTip::moveBase ( const vpHomogeneousMatrix &  Hmotion )

inherited

Definition at line 178 of file usNeedleModelBaseTip.cpp.

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

moveBase() [4/5]

void usNeedleModelBaseTip::moveBase ( const vpPoseVector &  pose )

inherited

Definition at line 161 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 154 of file usNeedleModelBaseTip.cpp.

References usNeedleModelBaseTip::moveBase().

moveBaseWorldFrame() [1/5]

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

inherited

Definition at line 186 of file usNeedleModelBaseTip.cpp.

Referenced by usNeedleModelBaseTip::moveBaseWorldFrame().

moveBaseWorldFrame() [2/5]

void usNeedleModelBaseTip::moveBaseWorldFrame ( const vpColVector &  v )

inherited

Definition at line 217 of file usNeedleModelBaseTip.cpp.

References usNeedleModelBaseTip::moveBaseWorldFrame().

moveBaseWorldFrame() [3/5]

void usNeedleModelBaseTip::moveBaseWorldFrame ( const vpHomogeneousMatrix &  Hmotion )

inherited

Definition at line 228 of file usNeedleModelBaseTip.cpp.

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

moveBaseWorldFrame() [4/5]

void usNeedleModelBaseTip::moveBaseWorldFrame ( const vpPoseVector &  pose )

inherited

Definition at line 210 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 202 of file usNeedleModelBaseTip.cpp.

References usNeedleModelBaseTip::moveBaseWorldFrame().

moveTip() [1/5]

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

inherited

Definition at line 245 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 275 of file usNeedleModelBaseTip.cpp.

References usNeedleModelBaseTip::moveTip().

moveTip() [3/5]

void usNeedleModelBaseTip::moveTip ( const vpHomogeneousMatrix &  Hmotion )

inherited

Definition at line 285 of file usNeedleModelBaseTip.cpp.

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

moveTip() [4/5]

void usNeedleModelBaseTip::moveTip ( const vpPoseVector &  pose )

inherited

Definition at line 268 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 261 of file usNeedleModelBaseTip.cpp.

References usNeedleModelBaseTip::moveTip().

moveTipWorldFrame() [1/5]

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

inherited

Definition at line 293 of file usNeedleModelBaseTip.cpp.

Referenced by usNeedleModelBaseTip::moveTipWorldFrame().

moveTipWorldFrame() [2/5]

void usNeedleModelBaseTip::moveTipWorldFrame ( const vpColVector &  v )

inherited

Definition at line 323 of file usNeedleModelBaseTip.cpp.

References usNeedleModelBaseTip::moveTipWorldFrame().

moveTipWorldFrame() [3/5]

void usNeedleModelBaseTip::moveTipWorldFrame ( const vpHomogeneousMatrix &  Hmotion )

inherited

Definition at line 334 of file usNeedleModelBaseTip.cpp.

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

moveTipWorldFrame() [4/5]

void usNeedleModelBaseTip::moveTipWorldFrame ( const vpPoseVector &  pose )

inherited

Definition at line 316 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 308 of file usNeedleModelBaseTip.cpp.

References usNeedleModelBaseTip::moveTipWorldFrame().

operator=()

const usNeedleModelSpline & usNeedleModelSpline::operator=

(

const usNeedleModelSpline &

needle

)

Definition at line 60 of file usNeedleModelSpline.cpp.

References m_insideDiameter, m_length, m_needleYoungModulus, m_outerDiameter, usBSpline3D::operator=(), and usNeedleModelBaseTip::operator=().

removeLastSegment()

void usBSpline3D::removeLastSegment ( )

inherited

Examples

testUsBSpline3D.cpp.

Definition at line 92 of file usBSpline3D.cpp.

References usBSpline3D::m_spline.

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

removeSegment()

void usBSpline3D::removeSegment ( int  i )

inherited

Examples

testUsBSpline3D.cpp.

Definition at line 94 of file usBSpline3D.cpp.

References usBSpline3D::m_spline.

removeSegments()

void usBSpline3D::removeSegments ( int  i, int  j  )

inherited

Examples

testUsBSpline3D.cpp.

Definition at line 96 of file usBSpline3D.cpp.

References usBSpline3D::m_spline.

Referenced by usNeedleInsertionModelRayleighRitzSpline::fitLength(), and usNeedleInsertionModelVirtualSprings::removeInsertionPointsHard().

setBasePose() [1/3]

void usNeedleModelBaseTip::setBasePose ( const vpHomogeneousMatrix &  Hpose )

inherited

Definition at line 109 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 103 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 92 of file usNeedleModelBaseTip.cpp.

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

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

setFullLength()

void usNeedleModelSpline::setFullLength

(

double

length

)

Parameters setters and getters.

Needle parameters

Examples

testUsNeedleInsertionModelRayleighRitzSpline.cpp, and testUsNeedleInsertionModelVirtualSprings.cpp.

Definition at line 156 of file usNeedleModelSpline.cpp.

References m_length.

Referenced by loadPreset().

setInsideDiameter()

void usNeedleModelSpline::setInsideDiameter

(

double

diameter

)

Examples

testUsNeedleInsertionModelRayleighRitzSpline.cpp, and testUsNeedleInsertionModelVirtualSprings.cpp.

Definition at line 172 of file usNeedleModelSpline.cpp.

References m_insideDiameter.

Referenced by loadPreset().

setNeedleYoungModulus()

void usNeedleModelSpline::setNeedleYoungModulus

(

double

E

)

Examples

testUsNeedleInsertionModelRayleighRitzSpline.cpp, and testUsNeedleInsertionModelVirtualSprings.cpp.

Definition at line 180 of file usNeedleModelSpline.cpp.

References m_needleYoungModulus.

Referenced by loadPreset().

setOuterDiameter()

void usNeedleModelSpline::setOuterDiameter

(

double

diameter

)

Examples

testUsNeedleInsertionModelRayleighRitzSpline.cpp, and testUsNeedleInsertionModelVirtualSprings.cpp.

Definition at line 164 of file usNeedleModelSpline.cpp.

References m_outerDiameter.

Referenced by loadPreset().

setSegment()

void usBSpline3D::setSegment ( int  i, const usPolynomialCurve3D &  poly  )

inherited

Examples

testUsBSpline3D.cpp.

Definition at line 90 of file usBSpline3D.cpp.

References usBSpline3D::m_spline.

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

setTipPose() [1/3]

void usNeedleModelBaseTip::setTipPose ( const vpHomogeneousMatrix &  Hpose )

inherited

Definition at line 132 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 126 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 115 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().

showNeedleDirections()

void usNeedleModelSpline::showNeedleDirections

(

)

const

Definition at line 498 of file usNeedleModelSpline.cpp.

References usBSpline3D::m_spline.

showNeedlePoints()

void usNeedleModelSpline::showNeedlePoints

(

)

const

Display.

Definition at line 480 of file usNeedleModelSpline.cpp.

References usBSpline3D::m_spline.

showNeedleSegmentCoef()

void usNeedleModelSpline::showNeedleSegmentCoef

(

)

const

Definition at line 516 of file usNeedleModelSpline.cpp.

References usBSpline3D::m_spline.

showNeedleSegmentLength()

void usNeedleModelSpline::showNeedleSegmentLength

(

)

const

Definition at line 530 of file usNeedleModelSpline.cpp.

References usBSpline3D::m_spline.

Friends And Related Function Documentation

operator<<

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

friend

Data saving.

Text

Definition at line 539 of file usNeedleModelSpline.cpp.

operator<<=

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

friend

Binary.

Definition at line 583 of file usNeedleModelSpline.cpp.

operator>>

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

friend

Definition at line 558 of file usNeedleModelSpline.cpp.

operator>>=

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

friend

Definition at line 602 of file usNeedleModelSpline.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_insideDiameter

double usNeedleModelSpline::m_insideDiameter

protected

Definition at line 65 of file usNeedleModelSpline.h.

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

m_length

double usNeedleModelSpline::m_length

protected

Needle parameters.

Definition at line 63 of file usNeedleModelSpline.h.

Referenced by getCurvatureFromNeedleShape(), getDistanceFromPoint(), getFullLength(), getNeedleDirection(), getNeedlePoint(), init(), operator=(), and setFullLength().

m_needleYoungModulus

double usNeedleModelSpline::m_needleYoungModulus

protected

Definition at line 66 of file usNeedleModelSpline.h.

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

m_outerDiameter

double usNeedleModelSpline::m_outerDiameter

protected

Definition at line 64 of file usNeedleModelSpline.h.

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

m_spline

std::vector<usPolynomialCurve3D> usBSpline3D::m_spline

protectedinherited

Polynomials container.

Definition at line 48 of file usBSpline3D.h.

Referenced by usBSpline3D::accessLastSegment(), usBSpline3D::accessSegment(), usBSpline3D::addSegment(), usBSpline3D::clear(), usBSpline3D::defineFromPoints(), getBaseStaticTorsor(), getBendingEnergy(), getCurvatureFromNeedleShape(), usBSpline3D::getCurvatureFromShape(), usBSpline3D::getLength(), usBSpline3D::getNbSegments(), usBSpline3D::getParametersFromLength(), usBSpline3D::getParametricLength(), usBSpline3D::getPoint(), usBSpline3D::getSubSpline(), usBSpline3D::getTangent(), init(), usBSpline3D::insertSegment(), usBSpline3D::move(), usBSpline3D::operator=(), usBSpline3D::removeLastSegment(), usBSpline3D::removeSegment(), usBSpline3D::removeSegments(), usBSpline3D::setSegment(), showNeedleDirections(), showNeedlePoints(), showNeedleSegmentCoef(), and showNeedleSegmentLength().

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().