usTissueModelSpline Class Reference

#include <visp3/ustk_needle_modeling/usTissueModelSpline.h>

Public Member Functions
	usTissueModelSpline ()
	usTissueModelSpline (const usTissueModelSpline &tissue)
virtual	~usTissueModelSpline ()
const usTissueModelSpline &	operator= (const usTissueModelSpline &tissue)
virtual usTissueModelSpline *	clone () const
const usOrientedPlane3D &	accessSurface () const
usOrientedPlane3D &	accessSurface ()
const usBSpline3D &	accessPath () const
usBSpline3D &	accessPath ()
bool	moveInWorldFrame (const vpHomogeneousMatrix &H)
bool	moveInWorldFrame (double x, double y, double z, double tx, double ty, double tz)
bool	move (const vpHomogeneousMatrix &H)
bool	move (double x, double y, double z, double tx, double ty, double tz)
bool	setPose (const vpPoseVector &p)
vpPoseVector	getPose () const

Public Attributes
usOrientedPlane3D	m_surface
usBSpline3D	m_path

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

Detailed Description

Definition at line 9 of file usTissueModelSpline.h.

Constructor & Destructor Documentation

usTissueModelSpline() [1/2]

usTissueModelSpline::usTissueModelSpline

(

)

Constructors, destructor.

Definition at line 35 of file usTissueModelSpline.cpp.

Referenced by clone().

usTissueModelSpline() [2/2]

usTissueModelSpline::usTissueModelSpline

(

const usTissueModelSpline &

tissue

)

Definition at line 37 of file usTissueModelSpline.cpp.

~usTissueModelSpline()

usTissueModelSpline::~usTissueModelSpline ( )

virtual

Definition at line 42 of file usTissueModelSpline.cpp.

Member Function Documentation

accessPath() [1/2]

usBSpline3D & usTissueModelSpline::accessPath

(

)

Definition at line 60 of file usTissueModelSpline.cpp.

References m_path.

accessPath() [2/2]

const usBSpline3D & usTissueModelSpline::accessPath

(

)

const

Examples

testUsNeedleJacobians.cpp.

Definition at line 58 of file usTissueModelSpline.cpp.

References m_path.

Referenced by usNeedleInsertionModelRayleighRitzSpline::cutPathToPoint(), usNeedleModelingDisplayTools::display(), usNeedleModelingDisplayTools::displayInteraction(), usNeedleModelingDisplayTools::displayTissueLayers(), usNeedleInsertionModelRayleighRitzSpline::getCorrespondingPathPoint(), usNeedleInsertionModelRayleighRitzSpline::getMaxTissueStretch(), usNeedleInsertionModelRayleighRitzSpline::getMeanTissueStretch(), usNeedleInsertionModelRayleighRitzSpline::getSurfaceTissueStretch(), usNeedleInsertionModelRayleighRitzSpline::getTissueDeformationEnergy(), usNeedleInsertionModelRayleighRitzSpline::getTissueInsertionPoint(), usNeedleInsertionModelRayleighRitzSpline::solveSegmentsParametersDense(), usNeedleInsertionModelRayleighRitzSpline::solveSegmentsParametersFullSparseEigen(), usNeedleInsertionModelRayleighRitzSpline::solveSegmentsParametersFullSparseEigenFixedLength(), usNeedleInsertionModelRayleighRitzSpline::solveSegmentsParametersSparseEigen(), usNeedleInsertionModelRayleighRitzSpline::updatePath(), and usNeedleInsertionModelRayleighRitzSpline::updateState().

accessSurface() [1/2]

usOrientedPlane3D & usTissueModelSpline::accessSurface

(

)

Definition at line 56 of file usTissueModelSpline.cpp.

References m_surface.

accessSurface() [2/2]

const usOrientedPlane3D & usTissueModelSpline::accessSurface

(

)

const

Parameters setters and getters.

Examples

testUsNeedleInsertionModelRayleighRitzSpline.cpp.

Definition at line 54 of file usTissueModelSpline.cpp.

References m_surface.

Referenced by usTissueTranslationEstimatorUKF::applyStateToNeedle(), usTissueTranslationEstimatorUKF::computeProcessNoiseCovarianceMatrix(), usNeedleInsertionModelRayleighRitzSpline::cutPathToPoint(), usNeedleModelingDisplayTools::display(), usNeedleModelingDisplayTools::displayTissueLayers(), usNeedleInsertionModelRayleighRitzSpline::getNeedleFreeLength(), usNeedleInsertionModelRayleighRitzSpline::getNeedleInsertionPoint(), usNeedleInsertionModelRayleighRitzSpline::IsNeedleInserted(), usNeedleInsertionModelRayleighRitzSpline::setBasePose(), usNeedleInsertionModelRayleighRitzSpline::setSurfaceAtTip(), usNeedleInsertionModelRayleighRitzSpline::solveSegmentsParametersDense(), usNeedleInsertionModelRayleighRitzSpline::solveSegmentsParametersFullSparseEigen(), usNeedleInsertionModelRayleighRitzSpline::solveSegmentsParametersFullSparseEigenFixedLength(), usNeedleInsertionModelRayleighRitzSpline::solveSegmentsParametersSparseEigen(), and usNeedleInsertionModelRayleighRitzSpline::updatePath().

clone()

usTissueModelSpline * usTissueModelSpline::clone ( ) const

virtual

Definition at line 52 of file usTissueModelSpline.cpp.

References usTissueModelSpline().

getPose()

vpPoseVector usTissueModelSpline::getPose

(

)

const

Definition at line 103 of file usTissueModelSpline.cpp.

References usBSpline3D::getNbSegments(), usBSpline3D::getPoint(), usOrientedPlane3D::getPose(), m_path, and m_surface.

Referenced by usTissueTranslationEstimatorUKF::checkConsistency(), usTissueTranslationEstimatorUKF::computeMeasureFromSigmaPoint(), move(), usTissueTranslationEstimatorUKF::setCurrentNeedle(), and setPose().

move() [1/2]

bool usTissueModelSpline::move

(

const vpHomogeneousMatrix &

H

)

Definition at line 75 of file usTissueModelSpline.cpp.

References getPose(), m_path, m_surface, usBSpline3D::move(), and usOrientedPlane3D::moveInWorldFrame().

Referenced by move().

move() [2/2]

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

Definition at line 87 of file usTissueModelSpline.cpp.

References move().

moveInWorldFrame() [1/2]

bool usTissueModelSpline::moveInWorldFrame

(

const vpHomogeneousMatrix &

H

)

Definition at line 62 of file usTissueModelSpline.cpp.

References m_path, m_surface, usBSpline3D::move(), and usOrientedPlane3D::moveInWorldFrame().

Referenced by moveInWorldFrame().

moveInWorldFrame() [2/2]

bool usTissueModelSpline::moveInWorldFrame	(	double	x,
		double	y,
		double	z,
		double	tx,
		double	ty,
		double	tz
	)

Definition at line 70 of file usTissueModelSpline.cpp.

References moveInWorldFrame().

operator=()

const usTissueModelSpline & usTissueModelSpline::operator=

(

const usTissueModelSpline &

tissue

)

Definition at line 44 of file usTissueModelSpline.cpp.

References m_path, and m_surface.

setPose()

bool usTissueModelSpline::setPose

(

const vpPoseVector &

p

)

Definition at line 92 of file usTissueModelSpline.cpp.

References getPose(), m_path, m_surface, usBSpline3D::move(), and usOrientedPlane3D::moveInWorldFrame().

Referenced by usTissueTranslationEstimatorUKF::applyStateToNeedle(), and usTissueTranslationEstimatorUKF::computeMeasureFromSigmaPoint().

Friends And Related Function Documentation

operator<<

VISP_EXPORT std::ostream& operator<< ( std::ostream &  s, const usTissueModelSpline &  tissue  )

friend

Data saving.

Text

Definition at line 116 of file usTissueModelSpline.cpp.

operator<<=

VISP_EXPORT std::ostream& operator<<= ( std::ostream &  s, const usTissueModelSpline &  tissue  )

friend

Binary.

Definition at line 139 of file usTissueModelSpline.cpp.

operator>>

VISP_EXPORT std::istream& operator>> ( std::istream &  s, usTissueModelSpline &  tissue  )

friend

Definition at line 126 of file usTissueModelSpline.cpp.

operator>>=

VISP_EXPORT std::istream& operator>>= ( std::istream &  s, usTissueModelSpline &  tissue  )

friend

Definition at line 149 of file usTissueModelSpline.cpp.

Member Data Documentation

m_path

usBSpline3D usTissueModelSpline::m_path

Definition at line 15 of file usTissueModelSpline.h.

Referenced by accessPath(), getPose(), move(), moveInWorldFrame(), operator=(), and setPose().

m_surface

usOrientedPlane3D usTissueModelSpline::m_surface

Tissue parameters.

Definition at line 14 of file usTissueModelSpline.h.

Referenced by accessSurface(), getPose(), move(), moveInWorldFrame(), operator=(), and setPose().