UsTK : Ultrasound ToolKit  version 2.0.1 under development (2024-05-20)
usVirtualSpring.h
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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
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9  * See the file LICENSE.txt at the root directory of this source
10  * distribution for additional information about the GNU GPL.
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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.
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17  * Inria Rennes - Bretagne Atlantique
18  * Campus Universitaire de Beaulieu
19  * 35042 Rennes Cedex
20  * France
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26  * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
27  *
28  * Author:
29  * Jason Chevrie
30  *
31  *****************************************************************************/
32 
33 #ifndef __usVirtualSpring_h
34 #define __usVirtualSpring_h
35 
36 #include <iostream>
37 
38 #include <visp3/core/vpColVector.h>
39 
40 #include <visp3/ustk_core/usOrientedPlane3D.h>
41 
42 class VISP_EXPORT usVirtualSpring : public usOrientedPlane3D
43 {
44 protected:
45  double m_stiffness;
46 
47  bool m_IsActive;
48  bool m_IsRemovable;
49  bool m_AllowPositionUpdate;
50  bool m_AllowDirectionUpdate;
51  bool m_AllowStiffnessUpdate;
52 
53 public:
55 
56  usVirtualSpring();
57  usVirtualSpring(const usVirtualSpring &spring);
58  usVirtualSpring(const vpColVector &p, const vpColVector &d, double K);
59  virtual ~usVirtualSpring();
60  const usVirtualSpring &operator=(const usVirtualSpring &spring);
61 
63 
64  void setStiffness(double K);
65  double getStiffness() const;
66  void addStiffness(double dK);
67 
68  void Activate();
69  void Deactivate();
70  bool IsActive() const;
71  void AllowRemoval(bool flag);
72  bool IsRemovable() const;
73  void AllowPositionUpdate(bool flag);
74  bool IsPositionUpdateAllowed() const;
75  void AllowDirectionUpdate(bool flag);
76  bool IsDirectionUpdateAllowed() const;
77  void AllowStiffnessUpdate(bool flag);
78  bool IsStiffnessUpdateAllowed() const;
79 
81 
83  friend VISP_EXPORT std::ostream &operator<<(std::ostream &s, const usVirtualSpring &spg);
84  friend VISP_EXPORT std::istream &operator>>(std::istream &s, usVirtualSpring &spg);
86  friend VISP_EXPORT std::ostream &operator<<=(std::ostream &s, const usVirtualSpring &spg);
87  friend VISP_EXPORT std::istream &operator>>=(std::istream &s, usVirtualSpring &spg);
88 };
89 
90 VISP_EXPORT std::ostream &operator<<(std::ostream &s, const usVirtualSpring &spg);
91 VISP_EXPORT std::istream &operator>>(std::istream &s, usVirtualSpring &spg);
92 
93 VISP_EXPORT std::ostream &operator<<=(std::ostream &s, const usVirtualSpring &spg);
94 VISP_EXPORT std::istream &operator>>=(std::istream &s, usVirtualSpring &spg);
95 
96 #endif // __usVirtualSpring_h
usOrientedPlane3D::operator<<
friend VISP_EXPORT std::ostream & operator<<(std::ostream &s, const usOrientedPlane3D &plane)
Data saving.
Definition: usOrientedPlane3D.cpp:138
usOrientedPlane3D::operator>>=
friend VISP_EXPORT std::istream & operator>>=(std::istream &s, usOrientedPlane3D &plane)
Definition: usOrientedPlane3D.cpp:175
usOrientedPlane3D::operator>>
friend VISP_EXPORT std::istream & operator>>(std::istream &s, usOrientedPlane3D &plane)
Definition: usOrientedPlane3D.cpp:149
usOrientedPlane3D::operator<<=
friend VISP_EXPORT std::ostream & operator<<=(std::ostream &s, const usOrientedPlane3D &plane)
Binary.
Definition: usOrientedPlane3D.cpp:166
usOrientedPlane3D::operator=
const usOrientedPlane3D & operator=(const usOrientedPlane3D &plane)
Definition: usOrientedPlane3D.cpp:56