usNeedleTip Class Reference

#include <visp3/ustk_needle_modeling/usNeedleTip.h>

Inheritance diagram for usNeedleTip:

Public Member Functions
	usNeedleTip ()
	usNeedleTip (const usNeedleTip &needle)
virtual	~usNeedleTip ()
virtual usNeedleTip &	operator= (const usNeedleTip &needle)
virtual usNeedleTip *	clone () const
void	setBasePose (const vpPoseVector &pose)
vpPoseVector	getBasePose () const
void	setWorldMbase (const vpHomogeneousMatrix &worldMbase)
vpHomogeneousMatrix	getWorldMbase () const
void	setBasePosition (const vpColVector &position)
vpColVector	getBasePosition () const
vpPoseVector	getTipPose () const
vpHomogeneousMatrix	getWorldMtip () const
vpColVector	getTipPosition () const
vpColVector	getTipDirection () const
vpColVector	getBaseAxisX () const
vpColVector	getBaseAxisY () const
vpColVector	getBaseAxisZ () const

Protected Attributes
vpPoseVector	m_basePose
vpHomogeneousMatrix	m_worldMbase
vpPoseVector	m_tipPose
vpHomogeneousMatrix	m_worldMtip

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

Detailed Description

Definition at line 42 of file usNeedleTip.h.

Constructor & Destructor Documentation

usNeedleTip() [1/2]

usNeedleTip::usNeedleTip

(

)

Constructors, destructors.

Definition at line 37 of file usNeedleTip.cpp.

Referenced by clone().

usNeedleTip() [2/2]

usNeedleTip::usNeedleTip

(

const usNeedleTip &

needle

)

Definition at line 39 of file usNeedleTip.cpp.

~usNeedleTip()

usNeedleTip::~usNeedleTip ( )

virtual

Definition at line 44 of file usNeedleTip.cpp.

Member Function Documentation

clone()

usNeedleTip * usNeedleTip::clone ( ) const

virtual

Reimplemented in usNeedleTipSymmetric, usNeedleTipPrebent, usNeedleTipBeveled, and usNeedleTipActuated.

Definition at line 56 of file usNeedleTip.cpp.

References usNeedleTip().

Referenced by usNeedleInsertionModelRayleighRitzSpline::operator=().

getBaseAxisX()

vpColVector usNeedleTip::getBaseAxisX

(

)

const

Definition at line 105 of file usNeedleTip.cpp.

References m_worldMbase.

getBaseAxisY()

vpColVector usNeedleTip::getBaseAxisY

(

)

const

Definition at line 107 of file usNeedleTip.cpp.

References m_worldMbase.

Referenced by usNeedleModelingDisplayTools::display().

getBaseAxisZ()

vpColVector usNeedleTip::getBaseAxisZ

(

)

const

Definition at line 109 of file usNeedleTip.cpp.

References m_worldMbase.

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

getBasePose()

vpPoseVector usNeedleTip::getBasePose

(

)

const

Definition at line 66 of file usNeedleTip.cpp.

References m_basePose.

Referenced by usNeedleInsertionModelRayleighRitzSpline::setNeedleTipType().

getBasePosition()

vpColVector usNeedleTip::getBasePosition

(

)

const

Definition at line 87 of file usNeedleTip.cpp.

References m_basePose.

Referenced by usNeedleModelingDisplayTools::display(), usNeedleInsertionModelRayleighRitzSpline::solveSegmentsParametersDense(), usNeedleInsertionModelRayleighRitzSpline::solveSegmentsParametersFullSparseEigen(), usNeedleInsertionModelRayleighRitzSpline::solveSegmentsParametersFullSparseEigenFixedLength(), and usNeedleInsertionModelRayleighRitzSpline::updatePath().

getTipDirection()

vpColVector usNeedleTip::getTipDirection

(

)

const

Definition at line 103 of file usNeedleTip.cpp.

References m_worldMtip.

Referenced by usNeedleInsertionModelRayleighRitzSpline::updatePath().

getTipPose()

vpPoseVector usNeedleTip::getTipPose

(

)

const

Definition at line 97 of file usNeedleTip.cpp.

References m_tipPose.

getTipPosition()

vpColVector usNeedleTip::getTipPosition

(

)

const

Definition at line 101 of file usNeedleTip.cpp.

References m_worldMtip.

Referenced by usNeedleModelingDisplayTools::display(), usNeedleInsertionModelRayleighRitzSpline::setSurfaceAtTip(), usNeedleInsertionModelRayleighRitzSpline::solveSegmentsParametersDense(), usNeedleInsertionModelRayleighRitzSpline::solveSegmentsParametersFullSparseEigen(), usNeedleInsertionModelRayleighRitzSpline::solveSegmentsParametersFullSparseEigenFixedLength(), and usNeedleInsertionModelRayleighRitzSpline::updatePath().

getWorldMbase()

vpHomogeneousMatrix usNeedleTip::getWorldMbase

(

)

const

Definition at line 76 of file usNeedleTip.cpp.

References m_worldMbase.

Referenced by usNeedleModelingDisplayTools::display().

getWorldMtip()

vpHomogeneousMatrix usNeedleTip::getWorldMtip

(

)

const

Definition at line 99 of file usNeedleTip.cpp.

References m_worldMtip.

operator=()

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

virtual

Definition at line 46 of file usNeedleTip.cpp.

References m_basePose, m_tipPose, m_worldMbase, and m_worldMtip.

Referenced by usNeedleTipActuated::operator=(), usNeedleTipBeveled::operator=(), usNeedleTipPrebent::operator=(), and usNeedleTipSymmetric::operator=().

setBasePose()

void usNeedleTip::setBasePose

(

const vpPoseVector &

pose

)

Parameters setters and getters.

Definition at line 58 of file usNeedleTip.cpp.

References m_basePose, and m_worldMbase.

Referenced by usNeedleInsertionModelRayleighRitzSpline::setNeedleTipType(), and usNeedleInsertionModelRayleighRitzSpline::updateTipPose().

setBasePosition()

void usNeedleTip::setBasePosition

(

const vpColVector &

position

)

Definition at line 78 of file usNeedleTip.cpp.

References m_basePose, and m_worldMbase.

setWorldMbase()

void usNeedleTip::setWorldMbase

(

const vpHomogeneousMatrix &

worldMbase

)

Definition at line 68 of file usNeedleTip.cpp.

References m_basePose, and m_worldMbase.

Friends And Related Function Documentation

operator<<

VISP_EXPORT std::ostream& operator<< ( std::ostream &  s, const usNeedleTip &  tip  )

friend

Data saving.

Text

Definition at line 111 of file usNeedleTip.cpp.

operator<<=

VISP_EXPORT std::ostream& operator<<= ( std::ostream &  s, const usNeedleTip &  tip  )

friend

Binary.

Definition at line 139 of file usNeedleTip.cpp.

operator>>

VISP_EXPORT std::istream& operator>> ( std::istream &  s, usNeedleTip &  tip  )

friend

Definition at line 120 of file usNeedleTip.cpp.

operator>>=

VISP_EXPORT std::istream& operator>>= ( std::istream &  s, usNeedleTip &  tip  )

friend

Definition at line 150 of file usNeedleTip.cpp.

Member Data Documentation

m_basePose

vpPoseVector usNeedleTip::m_basePose

protected

Definition at line 45 of file usNeedleTip.h.

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

m_tipPose

vpPoseVector usNeedleTip::m_tipPose

protected

Definition at line 47 of file usNeedleTip.h.

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

m_worldMbase

vpHomogeneousMatrix usNeedleTip::m_worldMbase

protected

Definition at line 46 of file usNeedleTip.h.

Referenced by getBaseAxisX(), getBaseAxisY(), getBaseAxisZ(), getWorldMbase(), operator=(), setBasePose(), setBasePosition(), and setWorldMbase().

m_worldMtip

vpHomogeneousMatrix usNeedleTip::m_worldMtip

protected

Definition at line 48 of file usNeedleTip.h.

Referenced by getTipDirection(), getTipPosition(), getWorldMtip(), and operator=().