UsTK : Ultrasound ToolKit  version 2.0.1 under development (2024-05-21)
usNeedleTip.h
1 /****************************************************************************
2  *
3  * This file is part of the ustk software.
4  * Copyright (C) 2016 - 2017 by Inria. All rights reserved.
5  *
6  * This software is free software; you can redistribute it and/or
7  * modify it under the terms of the GNU General Public License
8  * ("GPL") version 2 as published by the Free Software Foundation.
9  * See the file LICENSE.txt at the root directory of this source
10  * distribution for additional information about the GNU GPL.
11  *
12  * For using ustk with software that can not be combined with the GNU
13  * GPL, please contact Inria about acquiring a ViSP Professional
14  * Edition License.
15  *
16  * This software was developed at:
17  * Inria Rennes - Bretagne Atlantique
18  * Campus Universitaire de Beaulieu
19  * 35042 Rennes Cedex
20  * France
21  *
22  * If you have questions regarding the use of this file, please contact
23  * Inria at ustk@inria.fr
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25  * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
26  * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
27  *
28  * Author:
29  * Jason Chevrie
30  *
31  *****************************************************************************/
32 
33 #ifndef __usNeedleTip_h
34 #define __usNeedleTip_h
35 
36 #include <iostream>
37 
38 #include <visp3/core/vpColVector.h>
39 #include <visp3/core/vpHomogeneousMatrix.h>
40 #include <visp3/core/vpPoseVector.h>
41 
42 class VISP_EXPORT usNeedleTip
43 {
44 protected:
45  vpPoseVector m_basePose;
46  vpHomogeneousMatrix m_worldMbase;
47  vpPoseVector m_tipPose;
48  vpHomogeneousMatrix m_worldMtip;
49 
50 public:
52 
53  usNeedleTip();
54  usNeedleTip(const usNeedleTip &needle);
55  virtual ~usNeedleTip();
56  virtual usNeedleTip &operator=(const usNeedleTip &needle);
57  virtual usNeedleTip *clone() const; // Polymorph copy method
58 
60 
61  void setBasePose(const vpPoseVector &pose);
62  vpPoseVector getBasePose() const;
63  void setWorldMbase(const vpHomogeneousMatrix &worldMbase);
64  vpHomogeneousMatrix getWorldMbase() const;
65  void setBasePosition(const vpColVector &position);
66  vpColVector getBasePosition() const;
67 
68  vpPoseVector getTipPose() const;
69  vpHomogeneousMatrix getWorldMtip() const;
70  vpColVector getTipPosition() const;
71  vpColVector getTipDirection() const;
72 
73  vpColVector getBaseAxisX() const;
74  vpColVector getBaseAxisY() const;
75  vpColVector getBaseAxisZ() const;
76 
78 
80  friend VISP_EXPORT std::ostream &operator<<(std::ostream &s, const usNeedleTip &tip);
81  friend VISP_EXPORT std::istream &operator>>(std::istream &s, usNeedleTip &tip);
83  friend VISP_EXPORT std::ostream &operator<<=(std::ostream &s, const usNeedleTip &tip);
84  friend VISP_EXPORT std::istream &operator>>=(std::istream &s, usNeedleTip &tip);
85 
86 private:
87  virtual void updateTipPose();
88 };
89 
90 VISP_EXPORT std::ostream &operator<<(std::ostream &s, const usNeedleTip &tip);
91 VISP_EXPORT std::istream &operator>>(std::istream &s, usNeedleTip &tip);
92 
93 VISP_EXPORT std::ostream &operator<<=(std::ostream &s, const usNeedleTip &tip);
94 VISP_EXPORT std::istream &operator>>=(std::istream &s, usNeedleTip &tip);
95 
96 #endif // __usNeedleTip_h
usNeedleTip::m_worldMbase
vpHomogeneousMatrix m_worldMbase
Definition: usNeedleTip.h:46
usNeedleTip::m_basePose
vpPoseVector m_basePose
Definition: usNeedleTip.h:45
usNeedleTip::m_worldMtip
vpHomogeneousMatrix m_worldMtip
Definition: usNeedleTip.h:48
usNeedleTip::m_tipPose
vpPoseVector m_tipPose
Definition: usNeedleTip.h:47