UsTK : Ultrasound ToolKit  version 2.0.1 under development (2023-12-07)
Public Member Functions | Protected Attributes | Friends | List of all members
usVirtualSpring Class Reference

#include <visp3/ustk_needle_modeling/usVirtualSpring.h>

+ Inheritance diagram for usVirtualSpring:

Public Member Functions

 usVirtualSpring ()
 
 usVirtualSpring (const usVirtualSpring &spring)
 
 usVirtualSpring (const vpColVector &p, const vpColVector &d, double K)
 
virtual ~usVirtualSpring ()
 
const usVirtualSpring & operator= (const usVirtualSpring &spring)
 
void setStiffness (double K)
 
double getStiffness () const
 
void addStiffness (double dK)
 
void Activate ()
 
void Deactivate ()
 
bool IsActive () const
 
void AllowRemoval (bool flag)
 
bool IsRemovable () const
 
void AllowPositionUpdate (bool flag)
 
bool IsPositionUpdateAllowed () const
 
void AllowDirectionUpdate (bool flag)
 
bool IsDirectionUpdateAllowed () const
 
void AllowStiffnessUpdate (bool flag)
 
bool IsStiffnessUpdateAllowed () const
 
void setPose (const vpPoseVector &pose)
 
vpPoseVector getPose () const
 
void setPosition (const vpColVector &P)
 
vpColVector getPosition () const
 
void setDirection (const vpColVector &D)
 
vpColVector getDirection () const
 
void moveInLocalFrame (const vpHomogeneousMatrix &H)
 
void moveInLocalFrame (double x, double y, double z, double tx, double ty, double tz)
 
void moveInWorldFrame (const vpHomogeneousMatrix &H)
 
void moveInWorldFrame (double x, double y, double z, double tx, double ty, double tz)
 

Protected Attributes

double m_stiffness
 
bool m_IsActive
 
bool m_IsRemovable
 
bool m_AllowPositionUpdate
 
bool m_AllowDirectionUpdate
 
bool m_AllowStiffnessUpdate
 
vpColVector m_direction
 
vpPoseVector m_pose
 

Friends

VISP_EXPORT std::ostream & operator<< (std::ostream &s, const usVirtualSpring &spg)
 
VISP_EXPORT std::istream & operator>> (std::istream &s, usVirtualSpring &spg)
 
VISP_EXPORT std::ostream & operator<<= (std::ostream &s, const usVirtualSpring &spg)
 
VISP_EXPORT std::istream & operator>>= (std::istream &s, usVirtualSpring &spg)
 

Detailed Description

Definition at line 42 of file usVirtualSpring.h.

Constructor & Destructor Documentation

◆ usVirtualSpring() [1/3]

usVirtualSpring::usVirtualSpring ( )

Constructors, destructor.

Definition at line 35 of file usVirtualSpring.cpp.

◆ usVirtualSpring() [2/3]

usVirtualSpring::usVirtualSpring ( const usVirtualSpring &  spring)

Definition at line 43 of file usVirtualSpring.cpp.

◆ usVirtualSpring() [3/3]

usVirtualSpring::usVirtualSpring ( const vpColVector &  p,
const vpColVector &  d,
double  K 
)

Definition at line 54 of file usVirtualSpring.cpp.

References setStiffness().

◆ ~usVirtualSpring()

usVirtualSpring::~usVirtualSpring ( )
virtual

Definition at line 63 of file usVirtualSpring.cpp.

Member Function Documentation

◆ Activate()

void usVirtualSpring::Activate ( )

Definition at line 93 of file usVirtualSpring.cpp.

References m_IsActive.

◆ addStiffness()

void usVirtualSpring::addStiffness ( double  dK)

Definition at line 87 of file usVirtualSpring.cpp.

References m_stiffness.

◆ AllowDirectionUpdate()

void usVirtualSpring::AllowDirectionUpdate ( bool  flag)

Definition at line 107 of file usVirtualSpring.cpp.

References m_AllowDirectionUpdate.

Referenced by usNeedleInsertionModelVirtualSprings::addMeasureSpring().

◆ AllowPositionUpdate()

void usVirtualSpring::AllowPositionUpdate ( bool  flag)

Definition at line 103 of file usVirtualSpring.cpp.

References m_AllowPositionUpdate.

Referenced by usNeedleInsertionModelVirtualSprings::addMeasureSpring().

◆ AllowRemoval()

void usVirtualSpring::AllowRemoval ( bool  flag)

Definition at line 99 of file usVirtualSpring.cpp.

References m_IsRemovable.

◆ AllowStiffnessUpdate()

void usVirtualSpring::AllowStiffnessUpdate ( bool  flag)

Definition at line 111 of file usVirtualSpring.cpp.

References m_AllowStiffnessUpdate.

Referenced by usNeedleInsertionModelVirtualSprings::addMeasureSpring().

◆ Deactivate()

void usVirtualSpring::Deactivate ( )

Definition at line 95 of file usVirtualSpring.cpp.

References m_IsActive.

◆ getDirection()

vpColVector usOrientedPlane3D::getDirection ( ) const
inherited
Examples
testUsOrientedPlane3D.cpp.

Definition at line 116 of file usOrientedPlane3D.cpp.

References usOrientedPlane3D::m_direction.

Referenced by usNeedleInsertionModelVirtualSprings::addInsertionPoint(), usNeedleInsertionModelVirtualSprings::addMeasureSpring(), usNeedleInsertionModelVirtualSprings::addRemoveSprings(), usTissueTranslationEstimatorUKF::computeProcessNoiseCovarianceMatrix(), usGeometryDisplayTools::display(), usNeedleModelingDisplayTools::displayTissueLayers(), usGeometryTools::getPointPlaneDistance(), usGeometryTools::projectPointOnPlane(), usNeedleInsertionModelRayleighRitzSpline::setBasePose(), usNeedleInsertionModelRayleighRitzSpline::solveSegmentsParametersDense(), usNeedleInsertionModelRayleighRitzSpline::solveSegmentsParametersFullSparseEigen(), usNeedleInsertionModelRayleighRitzSpline::solveSegmentsParametersFullSparseEigenFixedLength(), and usNeedleInsertionModelRayleighRitzSpline::solveSegmentsParametersSparseEigen().

◆ getPose()

vpPoseVector usOrientedPlane3D::getPose ( ) const
inherited
Examples
testUsOrientedPlane3D.cpp.

Definition at line 70 of file usOrientedPlane3D.cpp.

References usOrientedPlane3D::m_pose.

Referenced by usTissueTranslationEstimatorUKF::applyStateToNeedle(), usTissueModelPolynomial::getPose(), and usTissueModelSpline::getPose().

◆ getPosition()

vpColVector usOrientedPlane3D::getPosition ( ) const
inherited
Examples
testUsOrientedPlane3D.cpp.

Definition at line 80 of file usOrientedPlane3D.cpp.

References usOrientedPlane3D::m_pose.

Referenced by usGeometryDisplayTools::display(), usNeedleModelingDisplayTools::displayTissueLayers(), usGeometryTools::getPointPlaneDistance(), and usGeometryTools::projectPointOnPlane().

◆ getStiffness()

double usVirtualSpring::getStiffness ( ) const

Definition at line 85 of file usVirtualSpring.cpp.

References m_stiffness.

◆ IsActive()

bool usVirtualSpring::IsActive ( ) const

Definition at line 97 of file usVirtualSpring.cpp.

References m_IsActive.

◆ IsDirectionUpdateAllowed()

bool usVirtualSpring::IsDirectionUpdateAllowed ( ) const

Definition at line 109 of file usVirtualSpring.cpp.

References m_AllowDirectionUpdate.

◆ IsPositionUpdateAllowed()

bool usVirtualSpring::IsPositionUpdateAllowed ( ) const

Definition at line 105 of file usVirtualSpring.cpp.

References m_AllowPositionUpdate.

Referenced by usNeedleModelingDisplayTools::display().

◆ IsRemovable()

bool usVirtualSpring::IsRemovable ( ) const

Definition at line 101 of file usVirtualSpring.cpp.

References m_IsRemovable.

◆ IsStiffnessUpdateAllowed()

bool usVirtualSpring::IsStiffnessUpdateAllowed ( ) const

Definition at line 113 of file usVirtualSpring.cpp.

References m_AllowStiffnessUpdate.

◆ moveInLocalFrame() [1/2]

void usOrientedPlane3D::moveInLocalFrame ( const vpHomogeneousMatrix &  H)
inherited
Examples
testUsOrientedPlane3D.cpp.

Definition at line 118 of file usOrientedPlane3D.cpp.

References usOrientedPlane3D::m_pose, and usOrientedPlane3D::setPose().

Referenced by usOrientedPlane3D::moveInLocalFrame().

◆ moveInLocalFrame() [2/2]

void usOrientedPlane3D::moveInLocalFrame ( double  x,
double  y,
double  z,
double  tx,
double  ty,
double  tz 
)
inherited

Definition at line 123 of file usOrientedPlane3D.cpp.

References usOrientedPlane3D::moveInLocalFrame().

◆ moveInWorldFrame() [1/2]

void usOrientedPlane3D::moveInWorldFrame ( const vpHomogeneousMatrix &  H)
inherited
Examples
testUsOrientedPlane3D.cpp.

Definition at line 128 of file usOrientedPlane3D.cpp.

References usOrientedPlane3D::m_pose, and usOrientedPlane3D::setPose().

Referenced by usTissueModelPolynomial::move(), usTissueModelSpline::move(), usTissueModelPolynomial::moveInWorldFrame(), usTissueModelSpline::moveInWorldFrame(), usOrientedPlane3D::moveInWorldFrame(), usTissueModelPolynomial::setPose(), and usTissueModelSpline::setPose().

◆ moveInWorldFrame() [2/2]

void usOrientedPlane3D::moveInWorldFrame ( double  x,
double  y,
double  z,
double  tx,
double  ty,
double  tz 
)
inherited

Definition at line 133 of file usOrientedPlane3D.cpp.

References usOrientedPlane3D::moveInWorldFrame().

◆ operator=()

const usVirtualSpring & usVirtualSpring::operator= ( const usVirtualSpring &  spring)

Definition at line 65 of file usVirtualSpring.cpp.

References m_AllowDirectionUpdate, m_AllowPositionUpdate, m_AllowStiffnessUpdate, m_IsActive, m_IsRemovable, m_stiffness, and usOrientedPlane3D::operator=().

◆ setDirection()

void usOrientedPlane3D::setDirection ( const vpColVector &  D)
inherited
Examples
testUsNeedleInsertionModelRayleighRitzSpline.cpp, and testUsOrientedPlane3D.cpp.

Definition at line 90 of file usOrientedPlane3D.cpp.

References usOrientedPlane3D::m_direction, and usOrientedPlane3D::m_pose.

Referenced by usNeedleInsertionModelVirtualSprings::addInsertionPoint(), usNeedleInsertionModelVirtualSprings::setSurfaceAtTip(), and usOrientedPlane3D::usOrientedPlane3D().

◆ setPose()

void usOrientedPlane3D::setPose ( const vpPoseVector &  pose)
inherited

Parameters setters and getters.

Examples
testUsOrientedPlane3D.cpp.

Definition at line 64 of file usOrientedPlane3D.cpp.

References usOrientedPlane3D::m_direction, and usOrientedPlane3D::m_pose.

Referenced by usOrientedPlane3D::moveInLocalFrame(), usOrientedPlane3D::moveInWorldFrame(), and usNeedleInsertionModelRayleighRitzSpline::setSurfaceAtTip().

◆ setPosition()

void usOrientedPlane3D::setPosition ( const vpColVector &  P)
inherited
Examples
testUsNeedleInsertionModelRayleighRitzSpline.cpp, and testUsOrientedPlane3D.cpp.

Definition at line 72 of file usOrientedPlane3D.cpp.

References usOrientedPlane3D::m_pose.

Referenced by usNeedleInsertionModelVirtualSprings::setSurfaceAtTip(), usNeedleInsertionModelRayleighRitzSpline::updateState(), and usOrientedPlane3D::usOrientedPlane3D().

◆ setStiffness()

void usVirtualSpring::setStiffness ( double  K)

Parameters setters and getters.

Definition at line 79 of file usVirtualSpring.cpp.

References m_stiffness.

Referenced by usNeedleInsertionModelVirtualSprings::addInsertionPoint(), and usVirtualSpring().

Friends And Related Function Documentation

◆ operator<<

VISP_EXPORT std::ostream& operator<< ( std::ostream &  s,
const usVirtualSpring &  spg 
)
friend

Data saving.

Text

Definition at line 115 of file usVirtualSpring.cpp.

◆ operator<<=

VISP_EXPORT std::ostream& operator<<= ( std::ostream &  s,
const usVirtualSpring &  spg 
)
friend

Binary.

Definition at line 154 of file usVirtualSpring.cpp.

◆ operator>>

VISP_EXPORT std::istream& operator>> ( std::istream &  s,
usVirtualSpring &  spg 
)
friend

Definition at line 131 of file usVirtualSpring.cpp.

◆ operator>>=

VISP_EXPORT std::istream& operator>>= ( std::istream &  s,
usVirtualSpring &  spg 
)
friend

Definition at line 168 of file usVirtualSpring.cpp.

Member Data Documentation

◆ m_AllowDirectionUpdate

bool usVirtualSpring::m_AllowDirectionUpdate
protected

Definition at line 50 of file usVirtualSpring.h.

Referenced by AllowDirectionUpdate(), IsDirectionUpdateAllowed(), and operator=().

◆ m_AllowPositionUpdate

bool usVirtualSpring::m_AllowPositionUpdate
protected

Definition at line 49 of file usVirtualSpring.h.

Referenced by AllowPositionUpdate(), IsPositionUpdateAllowed(), and operator=().

◆ m_AllowStiffnessUpdate

bool usVirtualSpring::m_AllowStiffnessUpdate
protected

Definition at line 51 of file usVirtualSpring.h.

Referenced by AllowStiffnessUpdate(), IsStiffnessUpdateAllowed(), and operator=().

◆ m_direction

vpColVector usOrientedPlane3D::m_direction
protectedinherited

Definition at line 45 of file usOrientedPlane3D.h.

Referenced by usOrientedPlane3D::getDirection(), usOrientedPlane3D::operator=(), usOrientedPlane3D::setDirection(), and usOrientedPlane3D::setPose().

◆ m_IsActive

bool usVirtualSpring::m_IsActive
protected

Definition at line 47 of file usVirtualSpring.h.

Referenced by Activate(), Deactivate(), IsActive(), and operator=().

◆ m_IsRemovable

bool usVirtualSpring::m_IsRemovable
protected

Definition at line 48 of file usVirtualSpring.h.

Referenced by AllowRemoval(), IsRemovable(), and operator=().

◆ m_pose

vpPoseVector usOrientedPlane3D::m_pose
protectedinherited

Definition at line 46 of file usOrientedPlane3D.h.

Referenced by usOrientedPlane3D::getPose(), usOrientedPlane3D::getPosition(), usOrientedPlane3D::moveInLocalFrame(), usOrientedPlane3D::moveInWorldFrame(), usOrientedPlane3D::operator=(), usOrientedPlane3D::setDirection(), usOrientedPlane3D::setPose(), and usOrientedPlane3D::setPosition().

◆ m_stiffness

double usVirtualSpring::m_stiffness
protected

Definition at line 45 of file usVirtualSpring.h.

Referenced by addStiffness(), getStiffness(), operator=(), and setStiffness().