usPolynomialCurve3D Class Reference

#include <visp3/ustk_core/usPolynomialCurve3D.h>

Inheritance diagram for usPolynomialCurve3D:

Public Member Functions
	usPolynomialCurve3D ()
	usPolynomialCurve3D (const usPolynomialCurve3D &curve)
const usPolynomialCurve3D &	operator= (const usPolynomialCurve3D &curve)
virtual	~usPolynomialCurve3D ()
	usPolynomialCurve3D (unsigned int order)
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
unsigned int	m_order
double	m_startParameter
double	m_endParameter
vpMatrix	m_polynomialCoefficients

Friends
VISP_EXPORT std::ostream &	operator<< (std::ostream &s, const usPolynomialCurve3D &seg)
VISP_EXPORT std::istream &	operator>> (std::istream &s, usPolynomialCurve3D &seg)
VISP_EXPORT std::ostream &	operator<<= (std::ostream &s, const usPolynomialCurve3D &seg)
VISP_EXPORT std::istream &	operator>>= (std::istream &s, usPolynomialCurve3D &seg)

Detailed Description

2D curve model

This class represents a 2D polynomial curve.

Examples

testUsBSpline3D.cpp, testUsGeometryDisplayTools.cpp, and testUsPolynomialCurve3D.cpp.

Definition at line 50 of file usPolynomialCurve3D.h.

Constructor & Destructor Documentation

usPolynomialCurve3D() [1/3]

usPolynomialCurve3D::usPolynomialCurve3D

(

)

Default constructor. Requires a call to setOrder().

Definition at line 39 of file usPolynomialCurve3D.cpp.

usPolynomialCurve3D() [2/3]

usPolynomialCurve3D::usPolynomialCurve3D

(

const usPolynomialCurve3D &

curve

)

Copy constructor.

Definition at line 44 of file usPolynomialCurve3D.cpp.

~usPolynomialCurve3D()

usPolynomialCurve3D::~usPolynomialCurve3D ( )

virtual

Destructor.

Definition at line 60 of file usPolynomialCurve3D.cpp.

usPolynomialCurve3D() [3/3]

usPolynomialCurve3D::usPolynomialCurve3D

(

unsigned int

order

)

Constructor.

Parameters

order

The order of the polynomial curve.

Definition at line 62 of file usPolynomialCurve3D.cpp.

Member Function Documentation

changeCoefficientsToFitBoundaries()

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

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 m_endParameter, m_order, m_polynomialCoefficients, and m_startParameter.

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

changeCoefficientsToFitMetricLength()

void usPolynomialCurve3D::changeCoefficientsToFitMetricLength

(

)

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 changeCoefficientsToFitBoundaries(), getLength(), m_endParameter, m_startParameter, and setBoundaries().

curveDistance()

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

static

Compute the distance between two curves. (to remove)

Definition at line 1143 of file usPolynomialCurve3D.cpp.

References getOrder(), and getPolynomialCoefficients().

defineFromPoints() [1/2]

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

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 m_order, setBoundaries(), and setPolynomialCoefficients().

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

defineFromPoints() [2/2]

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

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 m_order, setBoundaries(), and setPolynomialCoefficients().

defineFromPointsAuto() [1/4]

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

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 defineFromPoints(), getParametricLength(), m_order, and m_startParameter.

defineFromPointsAuto() [2/4]

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

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 m_order.

Referenced by defineFromPointsAuto(), and setControlPoints().

defineFromPointsAuto() [3/4]

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

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 defineFromPoints(), getParametricLength(), m_order, and m_startParameter.

defineFromPointsAuto() [4/4]

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

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 defineFromPointsAuto(), and 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
	)

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 m_order, setBoundaries(), and setPolynomialCoefficients().

Referenced by defineFromWeightedPointsAuto().

defineFromWeightedPoints() [2/2]

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

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 m_order, setBoundaries(), and setPolynomialCoefficients().

defineFromWeightedPointsAuto() [1/4]

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

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 defineFromWeightedPoints(), getParametricLength(), m_order, and m_startParameter.

defineFromWeightedPointsAuto() [2/4]

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

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 defineFromWeightedPoints(), getParametricLength(), m_order, and m_startParameter.

defineFromWeightedPointsAuto() [3/4]

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

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 defineFromWeightedPoints(), getParametricLength(), m_order, and m_startParameter.

defineFromWeightedPointsAuto() [4/4]

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

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 defineFromWeightedPoints(), getParametricLength(), m_order, and m_startParameter.

getControlPoints()

vpMatrix usPolynomialCurve3D::getControlPoints

(

)

const

Get the control points. (to remove)

Examples

testUsPolynomialCurve3D.cpp.

Definition at line 1117 of file usPolynomialCurve3D.cpp.

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

getCurvature()

double usPolynomialCurve3D::getCurvature

(

double

param

)

const

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 getDerivative().

getCurvatureFromShape()

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

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 getParametricLength(), and getPoints().

Referenced by usGeometryDisplayTools::displayCurvatureFromShape().

getDerivative()

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

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

Examples

testUsPolynomialCurve3D.cpp.

Definition at line 257 of file usPolynomialCurve3D.cpp.

References m_order, and m_polynomialCoefficients.

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

getEndParameter()

double usPolynomialCurve3D::getEndParameter

(

)

const

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

Examples

testUsPolynomialCurve3D.cpp.

Definition at line 144 of file usPolynomialCurve3D.cpp.

References m_endParameter.

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

getEndPoint()

vpColVector usPolynomialCurve3D::getEndPoint

(

)

const

Get the ending extremity of the polynomial curve.

Examples

testUsPolynomialCurve3D.cpp.

Definition at line 239 of file usPolynomialCurve3D.cpp.

References getPoint(), and 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

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

Examples

testUsPolynomialCurve3D.cpp.

Definition at line 255 of file usPolynomialCurve3D.cpp.

References getTangent(), and 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().

getLength()

double usPolynomialCurve3D::getLength

(

int

nbCountSeg = 50

)

const

Get the curve length in metric space.

Examples

testUsPolynomialCurve3D.cpp.

Definition at line 186 of file usPolynomialCurve3D.cpp.

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

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

getMeanAxisDeviation()

double usPolynomialCurve3D::getMeanAxisDeviation

(

int

nbCountSeg = 50

)

const

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 getParametricLength(), getPoints(), and m_startParameter.

getNewOrderPolynomialCurve()

usPolynomialCurve3D usPolynomialCurve3D::getNewOrderPolynomialCurve

(

unsigned int

order

)

const

Get new curve with new polynomial order.

Examples

testUsPolynomialCurve3D.cpp.

Definition at line 1176 of file usPolynomialCurve3D.cpp.

References setOrder().

getOrder()

unsigned int usPolynomialCurve3D::getOrder

(

)

const

Get the order of the polynomial curve.

Examples

testUsPolynomialCurve3D.cpp.

Definition at line 136 of file usPolynomialCurve3D.cpp.

References m_order.

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

getParametricLength()

double usPolynomialCurve3D::getParametricLength

(

)

const

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

Examples

testUsPolynomialCurve3D.cpp.

Definition at line 160 of file usPolynomialCurve3D.cpp.

References m_endParameter, and m_startParameter.

Referenced by usNeedleInsertionModelVirtualSprings::addInsertionPoint(), usNeedleInsertionModelVirtualSprings::addInsertionPointAtTip(), usNeedleInsertionModelVirtualSprings::addInsertionPointAtTipHard(), usNeedleInsertionModelVirtualSprings::addInsertionPointOnSegment(), usNeedleInsertionModelVirtualSprings::addInsertionPointOnSegmentHard(), usNeedleInsertionModelVirtualSprings::addRemoveSprings(), usBSpline3D::addSegment(), usGeometryTools::convertPolynomialToBSpline(), defineFromPointsAuto(), defineFromWeightedPointsAuto(), usNeedleModelingDisplayTools::displayNeedle(), usNeedleModelingDisplayTools::displayTissueLayers(), usNeedleInsertionModelVirtualSprings::fusionSprings(), getControlPoints(), usNeedleInsertionModelRayleighRitzSpline::getCorrespondingPathPoint(), usNeedleModelPolynomial::getCurvatureFromNeedleShape(), getCurvatureFromShape(), usNeedleInsertionModelVirtualSprings::getInsertionDepth(), getLength(), usNeedleInsertionModelRayleighRitzSpline::getMaxTissueStretch(), usNeedleInsertionModelVirtualSprings::getMaxTissueStretch(), getMeanAxisDeviation(), usNeedleInsertionModelRayleighRitzSpline::getMeanTissueStretch(), usNeedleInsertionModelVirtualSprings::getMeanTissueStretch(), usNeedleInsertionModelVirtualSprings::getNeedleFreeLength(), usNeedleInsertionModelRayleighRitzSpline::getNeedleFreeLength(), usGeometryTools::getPlaneCurveCrossingPoint(), getRenderingPoints(), usBSpline3D::getSubSpline(), usNeedleInsertionModelRayleighRitzSpline::getTissueDeformationEnergy(), usNeedleInsertionModelVirtualSprings::removeInsertionPoints(), usNeedleInsertionModelVirtualSprings::removeInsertionPointsHard(), 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

Get the polynomial curve point at a given parametric value.

Examples

testUsPolynomialCurve3D.cpp.

Definition at line 217 of file usPolynomialCurve3D.cpp.

References m_order, and m_polynomialCoefficients.

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

getPoints()

vpMatrix usPolynomialCurve3D::getPoints

(

const vpColVector &

parameters

)

const

Get the polynomial curve points at given parametric values.

Examples

testUsPolynomialCurve3D.cpp.

Definition at line 226 of file usPolynomialCurve3D.cpp.

References m_order, and m_polynomialCoefficients.

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

getPolynomialCoefficients()

vpMatrix usPolynomialCurve3D::getPolynomialCoefficients

(

)

const

Get the polynomial coefficients.

Examples

testUsPolynomialCurve3D.cpp.

Definition at line 215 of file usPolynomialCurve3D.cpp.

References m_polynomialCoefficients.

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

getRenderingPoints()

vpMatrix usPolynomialCurve3D::getRenderingPoints

(

)

const

Get the rendering points. (to remove)

Examples

testUsPolynomialCurve3D.cpp.

Definition at line 1131 of file usPolynomialCurve3D.cpp.

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

getStartParameter()

double usPolynomialCurve3D::getStartParameter

(

)

const

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

Examples

testUsPolynomialCurve3D.cpp.

Definition at line 140 of file usPolynomialCurve3D.cpp.

References m_startParameter.

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

getStartPoint()

vpColVector usPolynomialCurve3D::getStartPoint

(

)

const

Get the starting extremity of the polynomial curve.

Examples

testUsPolynomialCurve3D.cpp.

Definition at line 237 of file usPolynomialCurve3D.cpp.

References getPoint(), and m_startParameter.

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

getStartTangent()

vpColVector usPolynomialCurve3D::getStartTangent

(

)

const

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

Examples

testUsPolynomialCurve3D.cpp.

Definition at line 253 of file usPolynomialCurve3D.cpp.

References getTangent(), and m_startParameter.

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

getSubPolynomialCurve()

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

Get new curve starting at different parametric coefficients .

Examples

testUsPolynomialCurve3D.cpp.

Definition at line 1167 of file usPolynomialCurve3D.cpp.

References setBoundaries().

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

getTangent()

vpColVector usPolynomialCurve3D::getTangent

(

double

parameter

)

const

Get the tangent vector at a given parametric value.

Examples

testUsPolynomialCurve3D.cpp.

Definition at line 241 of file usPolynomialCurve3D.cpp.

References m_order, and m_polynomialCoefficients.

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

move() [1/2]

void usPolynomialCurve3D::move

(

const vpHomogeneousMatrix &

H

)

Apply an homogeneous transformation to the polynomial curve.

Examples

testUsBSpline3D.cpp, and testUsPolynomialCurve3D.cpp.

Definition at line 1236 of file usPolynomialCurve3D.cpp.

References m_polynomialCoefficients, and setPolynomialCoefficients().

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

move() [2/2]

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

Apply an homogeneous transformation to the polynomial curve.

Definition at line 1246 of file usPolynomialCurve3D.cpp.

References move().

operator=()

const usPolynomialCurve3D & usPolynomialCurve3D::operator=

(

const usPolynomialCurve3D &

curve

)

Assignment operator.

Definition at line 50 of file usPolynomialCurve3D.cpp.

References m_endParameter, m_order, m_polynomialCoefficients, and m_startParameter.

reverse()

void usPolynomialCurve3D::reverse

(

)

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 changeCoefficientsToFitBoundaries(), m_endParameter, and m_startParameter.

Referenced by setBoundaries().

scale()

void usPolynomialCurve3D::scale

(

double

s

)

Scale the polynomial curve.

Examples

testUsPolynomialCurve3D.cpp.

Definition at line 1251 of file usPolynomialCurve3D.cpp.

References m_polynomialCoefficients.

setBoundaries()

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

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 m_endParameter, m_startParameter, and reverse().

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

setControlPoints() [1/2]

void usPolynomialCurve3D::setControlPoints

(

const vpMatrix &

controlPoints

)

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 defineFromPointsAuto().

Referenced by setControlPoints().

setControlPoints() [2/2]

void usPolynomialCurve3D::setControlPoints

(

double **

controlPoints

)

Set the control points.

Definition at line 1110 of file usPolynomialCurve3D.cpp.

References m_order, and setControlPoints().

setEndParameter()

void usPolynomialCurve3D::setEndParameter

(

double

endParameter

)

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

Examples

testUsPolynomialCurve3D.cpp.

Definition at line 142 of file usPolynomialCurve3D.cpp.

References m_endParameter.

setLength()

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

Set the curve length in metric space.

Examples

testUsPolynomialCurve3D.cpp.

Definition at line 162 of file usPolynomialCurve3D.cpp.

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

setOrder()

void usPolynomialCurve3D::setOrder

(

unsigned int

order

)

Change the order of the polynomial curve.

Examples

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

Definition at line 67 of file usPolynomialCurve3D.cpp.

References m_endParameter, m_order, m_polynomialCoefficients, and m_startParameter.

Referenced by getNewOrderPolynomialCurve().

setParametricLength()

void usPolynomialCurve3D::setParametricLength

(

double

length

)

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

Examples

testUsPolynomialCurve3D.cpp.

Definition at line 158 of file usPolynomialCurve3D.cpp.

References m_endParameter, and m_startParameter.

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

setPolynomialCoefficients()

void usPolynomialCurve3D::setPolynomialCoefficients

(

const vpMatrix &

polynomialCoefficients

)

Set the curve polynomial coefficients.

Examples

testUsPolynomialCurve3D.cpp.

Definition at line 202 of file usPolynomialCurve3D.cpp.

References m_order, and m_polynomialCoefficients.

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

setStartParameter()

void usPolynomialCurve3D::setStartParameter

(

double

startParameter

)

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

Examples

testUsPolynomialCurve3D.cpp.

Definition at line 138 of file usPolynomialCurve3D.cpp.

References m_startParameter.

Friends And Related Function Documentation

operator<<

VISP_EXPORT std::ostream& operator<< ( std::ostream &  s, const usPolynomialCurve3D &  seg  )

friend

Data saving.

Text

Definition at line 1253 of file usPolynomialCurve3D.cpp.

operator<<=

VISP_EXPORT std::ostream& operator<<= ( std::ostream &  s, const usPolynomialCurve3D &  seg  )

friend

Binary.

Definition at line 1288 of file usPolynomialCurve3D.cpp.

operator>>

VISP_EXPORT std::istream& operator>> ( std::istream &  s, usPolynomialCurve3D &  seg  )

friend

Definition at line 1268 of file usPolynomialCurve3D.cpp.

operator>>=

VISP_EXPORT std::istream& operator>>= ( std::istream &  s, usPolynomialCurve3D &  seg  )

friend

Definition at line 1301 of file usPolynomialCurve3D.cpp.

Member Data Documentation

m_endParameter

double usPolynomialCurve3D::m_endParameter

protected

Definition at line 433 of file usPolynomialCurve3D.h.

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

m_order

unsigned int usPolynomialCurve3D::m_order

protected

Definition at line 431 of file usPolynomialCurve3D.h.

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

m_polynomialCoefficients

vpMatrix usPolynomialCurve3D::m_polynomialCoefficients

protected

Definition at line 434 of file usPolynomialCurve3D.h.

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

m_startParameter

double usPolynomialCurve3D::m_startParameter

protected

Definition at line 432 of file usPolynomialCurve3D.h.

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