usNeedleTipActuated Class Reference

#include <visp3/ustk_needle_modeling/usNeedleTipActuated.h>

Inheritance diagram for usNeedleTipActuated:

Public Member Functions
	usNeedleTipActuated ()
	usNeedleTipActuated (const usNeedleTipActuated &needle)
virtual	~usNeedleTipActuated ()
virtual usNeedleTipActuated &	operator= (const usNeedleTipActuated &needle)
virtual usNeedleTipActuated *	clone () const
void	setDiameter (double diameter)
double	getDiameter () const
void	setLength (double l)
double	getLength () const
void	setTipAngleRad (double angle)
double	getTipAngleRad () const
void	setTipAngleDeg (double angle)
double	getTipAngleDeg () const
void	setSteeringAngleRad (double angle)
double	getSteeringAngleRad () const
void	setSteeringAngleDeg (double angle)
double	getSteeringAngleDeg () 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
double	_diameter
double	_length
double	_angle
double	_steeringAngle
vpPoseVector	m_basePose
vpHomogeneousMatrix	m_worldMbase
vpPoseVector	m_tipPose
vpHomogeneousMatrix	m_worldMtip

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

Detailed Description

Examples

testUsNeedleInsertionModelRayleighRitzSpline.cpp.

Definition at line 40 of file usNeedleTipActuated.h.

Constructor & Destructor Documentation

usNeedleTipActuated() [1/2]

usNeedleTipActuated::usNeedleTipActuated

(

)

Constructors, destructors.

Definition at line 38 of file usNeedleTipActuated.cpp.

Referenced by clone().

usNeedleTipActuated() [2/2]

usNeedleTipActuated::usNeedleTipActuated

(

const usNeedleTipActuated &

needle

)

Definition at line 40 of file usNeedleTipActuated.cpp.

~usNeedleTipActuated()

usNeedleTipActuated::~usNeedleTipActuated ( )

virtual

Definition at line 46 of file usNeedleTipActuated.cpp.

Member Function Documentation

clone()

usNeedleTipActuated * usNeedleTipActuated::clone ( ) const

virtual

Reimplemented from usNeedleTip.

Definition at line 60 of file usNeedleTipActuated.cpp.

References usNeedleTipActuated().

getBaseAxisX()

vpColVector usNeedleTip::getBaseAxisX ( ) const

inherited

Definition at line 105 of file usNeedleTip.cpp.

References usNeedleTip::m_worldMbase.

getBaseAxisY()

vpColVector usNeedleTip::getBaseAxisY ( ) const

inherited

Definition at line 107 of file usNeedleTip.cpp.

References usNeedleTip::m_worldMbase.

Referenced by usNeedleModelingDisplayTools::display().

getBaseAxisZ()

vpColVector usNeedleTip::getBaseAxisZ ( ) const

inherited

Definition at line 109 of file usNeedleTip.cpp.

References usNeedleTip::m_worldMbase.

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

getBasePose()

vpPoseVector usNeedleTip::getBasePose ( ) const

inherited

Definition at line 66 of file usNeedleTip.cpp.

References usNeedleTip::m_basePose.

Referenced by usNeedleInsertionModelRayleighRitzSpline::setNeedleTipType().

getBasePosition()

vpColVector usNeedleTip::getBasePosition ( ) const

inherited

Definition at line 87 of file usNeedleTip.cpp.

References usNeedleTip::m_basePose.

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

getDiameter()

double usNeedleTipActuated::getDiameter

(

)

const

Definition at line 68 of file usNeedleTipActuated.cpp.

References _diameter.

Referenced by usNeedleModelingDisplayTools::display().

getLength()

double usNeedleTipActuated::getLength

(

)

const

Definition at line 76 of file usNeedleTipActuated.cpp.

References _length.

getSteeringAngleDeg()

double usNeedleTipActuated::getSteeringAngleDeg

(

)

const

Definition at line 114 of file usNeedleTipActuated.cpp.

References _steeringAngle.

getSteeringAngleRad()

double usNeedleTipActuated::getSteeringAngleRad

(

)

const

Definition at line 103 of file usNeedleTipActuated.cpp.

References _steeringAngle.

getTipAngleDeg()

double usNeedleTipActuated::getTipAngleDeg

(

)

const

Definition at line 92 of file usNeedleTipActuated.cpp.

References _angle.

getTipAngleRad()

double usNeedleTipActuated::getTipAngleRad

(

)

const

Definition at line 84 of file usNeedleTipActuated.cpp.

References _angle.

getTipDirection()

vpColVector usNeedleTip::getTipDirection ( ) const

inherited

Definition at line 103 of file usNeedleTip.cpp.

References usNeedleTip::m_worldMtip.

Referenced by usNeedleInsertionModelRayleighRitzSpline::updatePath().

getTipPose()

vpPoseVector usNeedleTip::getTipPose ( ) const

inherited

Definition at line 97 of file usNeedleTip.cpp.

References usNeedleTip::m_tipPose.

getTipPosition()

vpColVector usNeedleTip::getTipPosition ( ) const

inherited

Definition at line 101 of file usNeedleTip.cpp.

References usNeedleTip::m_worldMtip.

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

getWorldMbase()

vpHomogeneousMatrix usNeedleTip::getWorldMbase ( ) const

inherited

Definition at line 76 of file usNeedleTip.cpp.

References usNeedleTip::m_worldMbase.

Referenced by usNeedleModelingDisplayTools::display().

getWorldMtip()

vpHomogeneousMatrix usNeedleTip::getWorldMtip ( ) const

inherited

Definition at line 99 of file usNeedleTip.cpp.

References usNeedleTip::m_worldMtip.

operator=()

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

virtual

Definition at line 48 of file usNeedleTipActuated.cpp.

References _angle, _diameter, _length, _steeringAngle, and usNeedleTip::operator=().

setBasePose()

void usNeedleTip::setBasePose ( const vpPoseVector &  pose )

inherited

Parameters setters and getters.

Definition at line 58 of file usNeedleTip.cpp.

References usNeedleTip::m_basePose, and usNeedleTip::m_worldMbase.

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

setBasePosition()

void usNeedleTip::setBasePosition ( const vpColVector &  position )

inherited

Definition at line 78 of file usNeedleTip.cpp.

References usNeedleTip::m_basePose, and usNeedleTip::m_worldMbase.

setDiameter()

void usNeedleTipActuated::setDiameter

(

double

diameter

)

Parameters setters and getters.

Definition at line 62 of file usNeedleTipActuated.cpp.

References _diameter.

Referenced by usNeedleInsertionModelRayleighRitzSpline::loadPreset().

setLength()

void usNeedleTipActuated::setLength

(

double

l

)

Definition at line 70 of file usNeedleTipActuated.cpp.

References _length.

Referenced by usNeedleInsertionModelRayleighRitzSpline::loadPreset().

setSteeringAngleDeg()

void usNeedleTipActuated::setSteeringAngleDeg

(

double

angle

)

Definition at line 105 of file usNeedleTipActuated.cpp.

References _steeringAngle.

setSteeringAngleRad()

void usNeedleTipActuated::setSteeringAngleRad

(

double

angle

)

Definition at line 94 of file usNeedleTipActuated.cpp.

References _steeringAngle.

Referenced by usNeedleInsertionModelRayleighRitzSpline::loadPreset().

setTipAngleDeg()

void usNeedleTipActuated::setTipAngleDeg

(

double

angle

)

Definition at line 86 of file usNeedleTipActuated.cpp.

References _angle.

setTipAngleRad()

void usNeedleTipActuated::setTipAngleRad

(

double

angle

)

Definition at line 78 of file usNeedleTipActuated.cpp.

References _angle.

Referenced by usNeedleInsertionModelRayleighRitzSpline::loadPreset().

setWorldMbase()

void usNeedleTip::setWorldMbase ( const vpHomogeneousMatrix &  worldMbase )

inherited

Definition at line 68 of file usNeedleTip.cpp.

References usNeedleTip::m_basePose, and usNeedleTip::m_worldMbase.

Friends And Related Function Documentation

operator<<

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

friend

Data saving.

Text

Definition at line 116 of file usNeedleTipActuated.cpp.

operator<<=

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

friend

Binary.

Definition at line 148 of file usNeedleTipActuated.cpp.

operator>>

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

friend

Definition at line 130 of file usNeedleTipActuated.cpp.

operator>>=

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

friend

Definition at line 162 of file usNeedleTipActuated.cpp.

Member Data Documentation

_angle

double usNeedleTipActuated::_angle

protected

Definition at line 45 of file usNeedleTipActuated.h.

Referenced by getTipAngleDeg(), getTipAngleRad(), operator=(), setTipAngleDeg(), and setTipAngleRad().

_diameter

double usNeedleTipActuated::_diameter

protected

Definition at line 43 of file usNeedleTipActuated.h.

Referenced by getDiameter(), operator=(), and setDiameter().

_length

double usNeedleTipActuated::_length

protected

Definition at line 44 of file usNeedleTipActuated.h.

Referenced by getLength(), operator=(), and setLength().

_steeringAngle

double usNeedleTipActuated::_steeringAngle

protected

Definition at line 46 of file usNeedleTipActuated.h.

Referenced by getSteeringAngleDeg(), getSteeringAngleRad(), operator=(), setSteeringAngleDeg(), and setSteeringAngleRad().

m_basePose

vpPoseVector usNeedleTip::m_basePose

protectedinherited

Definition at line 45 of file usNeedleTip.h.

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

m_tipPose

vpPoseVector usNeedleTip::m_tipPose

protectedinherited

Definition at line 47 of file usNeedleTip.h.

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

m_worldMbase

vpHomogeneousMatrix usNeedleTip::m_worldMbase

protectedinherited

Definition at line 46 of file usNeedleTip.h.

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

m_worldMtip

vpHomogeneousMatrix usNeedleTip::m_worldMtip

protectedinherited

Definition at line 48 of file usNeedleTip.h.

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