Two-jawed laparoscopic tool controlled by external device The tool is composed of three scene objects: pivot, lower jaw and upper jaw The jaws open-close based on the buttons at present. This has to be replaced by potentiometer tracking in future. More...
#include <imstkLaparoscopicToolController.h>
Inheritance diagram for imstk::LaparoscopicToolController:
Collaboration diagram for imstk::LaparoscopicToolController:
Public Types | |
| enum | JawState { Closed, Opened } |
 Public Types inherited from imstk::TrackingDeviceControl | |
| enum | InvertFlag { transX = 0x01, transY = 0x02, transZ = 0x04, rotX = 0x08, rotY = 0x10, rotZ = 0x20 } |
| Public Types inherited from imstk::EventObject | |
| using | Observer = std::tuple< bool, std::weak_ptr< EventObject >, std::function< void(Event *)> > |
Public Member Functions | |
| LaparoscopicToolController (const std::string &name="LaparoscopicToolController") | |
| void | setParts (std::shared_ptr< CollidingObject > shaft, std::shared_ptr< CollidingObject > upperJaw, std::shared_ptr< CollidingObject > lowerJaw, std::shared_ptr< Geometry > pickGeom) |
| void | setDevice (std::shared_ptr< DeviceClient > device) override |
| SIGNAL (LaparoscopicToolController, JawClosed) | |
| Fired once when the jaw transitions to closed state. | |
| SIGNAL (LaparoscopicToolController, JawOpened) | |
| Fired once when the jaw transitions to open state. | |
| void | update (const double &dt) override |
| Update controlled laparoscopic tool using latest tracking information. | |
| void | setMaxJawAngle (const double maxAngle) |
| Set the maximum jaw angle. | |
| void | setJawAngleChange (const double dAngle) |
| Set the increment. | |
| void | setJawRotationAxis (const Vec3d &axis) |
| Set the jaw rotation axis. | |
| double | getJawAngle () const |
| Get the current jaw angle. | |
| double | getMaxJawAngle () const |
| Get the max jaw angle. | |
| JawState | getJawState () const |
| Get the state of the jaw whether it is open or closed. | |
| Public Member Functions inherited from imstk::TrackingDeviceControl | |
| virtual void | applyForces () |
| Apply forces to the haptic device. | |
| const Quatd & | getEffectorRotationOffset () |
| Get/Set the roation applied to the end effector, this can be used to register the device in virtual space with regard to the users point of view. | |
| void | setEffectorRotationOffset (const Quatd &r) |
| virtual bool | updateTrackingData (const double dt) |
| Update tracking data. | |
| const Vec3d & | getPosition () const |
| Set/Get the position of the tracker. | |
| void | setPosition (const Vec3d &pos) |
| const Quatd & | getOrientation () const |
| Set/Get the orientation of the tracker. | |
| void | setOrientation (const Quatd &orientation) |
| void | setComputeVelocity (const bool computeVelocity) |
| Set/Get whether to compute the velocity from previous and current samples Useful if a device does not provide the quantity. | |
| bool | getComputeVelocity () const |
| void | setComputeAngularVelocity (const bool computeAngularVelocity) |
| Set/Get whether to compute the anular velocity from previous and current samples Useful if the device does not provide the quantity. | |
| bool | getComputeAngularVelocity () const |
| const Vec3d & | getAngularVelocity () const |
| Get/Set the angular velocity. | |
| void | setAngularVelocity (const Vec3d &angularVelocity) |
| const Vec3d & | getVelocity () const |
| Get/Set the linear velocity. | |
| void | setVelocity (const Vec3d &velocity) |
| double | getTranslationScaling () const |
| Get/Set the current scaling factor. | |
| void | setTranslationScaling (const double scaling) |
| const Vec3d & | getTranslationOffset () const |
| Get/Set the translation offset. | |
| void | setTranslationOffset (const Vec3d &t) |
| const Quatd & | getRotationOffset () |
| Get/Set the rotation offset, this rotation is applied to the overall device coordinate system. | |
| void | setRotationOffset (const Quatd &r) |
| unsigned char | getInversionFlags () |
| Get/Set the inversion flags, when set the corresponding axis coordinates or rotation angle will be negated. | |
| void | setInversionFlags (const unsigned char f) |
| Public Member Functions inherited from imstk::DeviceControl | |
| SIGNAL (DeviceControl, modified) | |
| virtual void | printControls () |
| Prints the controls. | |
| std::shared_ptr< DeviceClient > | getDevice () const |
| Set/Get the device client used in the control. | |
| Public Member Functions inherited from imstk::Behaviour< UpdateInfo > | |
| virtual void | update (const UpdateInfo &imstkNotUsed(updateData)) |
| virtual void | visualUpdate (const UpdateInfo &imstkNotUsed(updateData)) |
| void | initTaskGraphEdges () |
| Setup the edges/connections of the TaskGraph. | |
| std::shared_ptr< TaskGraph > | getTaskGraph () const |
| Public Member Functions inherited from imstk::Component | |
| const std::string & | getName () const |
| void | setName (const std::string &name) |
| std::weak_ptr< Entity > | getEntity () const |
| Get parent entity. | |
| void | initialize () |
| Initialize the component, called at a later time after all component construction is complete. | |
| Public Member Functions inherited from imstk::EventObject | |
| template<typename T > | |
| void | postEvent (const T &e) |
| Emits the event Direct observers will be immediately called, in sync Queued observers will receive the Command in their queue for later execution, reciever must implement doEvent. | |
| template<typename T > | |
| void | queueEvent (const T &e) |
| Queues event directly to this. | |
| void | doEvent () |
| Do an event, if none exists return. | |
| void | doAllEvents () |
| Do all the events in the event queue. | |
| void | foreachEvent (std::function< void(Command cmd)> func) |
| Thread safe loop over all event commands, one can implement a custom handler. | |
| void | rforeachEvent (std::function< void(Command cmd)> func) |
| thread safe reverse loop over all event commands, one can implement a custom handler | |
| void | clearEvents () |
| Removes all events from queue cleans up copies of the event. | |
Protected Attributes | |
| std::shared_ptr< CollidingObject > | m_shaft |
| Tool shaft. | |
| std::shared_ptr< CollidingObject > | m_upperJaw |
| Tool upper jaw. | |
| std::shared_ptr< CollidingObject > | m_lowerJaw |
| Tool lower jaw. | |
| std::shared_ptr< Geometry > | m_pickGeom |
| double | m_jawAngle = PI / 6.0 |
| Angle of the jaws. | |
| double | m_change = 6.0e-5 |
| Amount of change in jaw angle per frame. | |
| double | m_maxJawAngle = PI / 6.0 |
| Maximum angle of the jaws. | |
| JawState | m_jawState = JawState::Opened |
| Vec3d | m_jawRotationAxis = Vec3d(1.0, 0.0, 0.0) |
| Angle of the jaws. | |
| Mat4d | m_controllerWorldTransform = Mat4d::Identity() |
| Mat4d | m_pickGeomTransform = Mat4d::Identity() |
| Mat4d | m_shaftVisualTransform = Mat4d::Identity() |
| Mat4d | m_upperJawVisualTransform = Mat4d::Identity() |
| Mat4d | m_lowerJawVisualTransform = Mat4d::Identity() |
| Mat4d | m_shaftCollidingTransform = Mat4d::Identity() |
| Mat4d | m_upperJawCollidingTransform = Mat4d::Identity() |
| Mat4d | m_lowerJawCollidingTransform = Mat4d::Identity() |
| Mat4d | m_upperJawLocalTransform = Mat4d::Identity() |
| Mat4d | m_lowerJawLocalTransform = Mat4d::Identity() |
| Protected Attributes inherited from imstk::TrackingDeviceControl | |
| double | m_scaling = 1.0 |
| Scaling factor for physical to virtual translations. | |
| Vec3d | m_translationOffset = Vec3d::Zero() |
| Translation concatenated to the device translation. | |
| Quatd | m_rotationOffset = Quatd::Identity() |
| Rotation concatenated to the device rotation. | |
| Quatd | m_effectorRotationOffset = Quatd::Identity() |
| Rotation prefixed to the device rotation. | |
| unsigned char | m_invertFlags = 0x00 |
| Invert flags to be masked with DeviceTracker::InvertFlag. | |
| Vec3d | m_currentPos = Vec3d::Zero() |
| Quatd | m_currentOrientation = Quatd::Identity() |
| Vec3d | m_currentVelocity = Vec3d::Zero() |
| Vec3d | m_currentAngularVelocity = Vec3d::Zero() |
| Vec3d | m_currentDisplacement = Vec3d::Zero() |
| Quatd | m_currentRotation = Quatd::Identity() |
| bool | m_computeVelocity = false |
| If true, will use current and previous positions to produce velocity, if off, will ask device for velocity. | |
| bool | m_computeAngularVelocity = false |
| If true, will use current and previous rotations to produce angular velocity, if off, will ask device for angular velocity. | |
| Protected Attributes inherited from imstk::DeviceControl | |
| std::shared_ptr< DeviceClient > | m_deviceClient |
| Protected Attributes inherited from imstk::Behaviour< UpdateInfo > | |
| std::shared_ptr< TaskGraph > | m_taskGraph = nullptr |
| Protected Attributes inherited from imstk::Component | |
| std::string | m_name |
| std::weak_ptr< Entity > | m_entity |
| Parent entity this component exists on. | |
| Protected Attributes inherited from imstk::EventObject | |
| ParallelUtils::SpinLock | eventQueueLock |
| std::deque< Command > | eventQueue |
| std::vector< std::pair< std::string, std::vector< Observer > > > | queuedObservers |
| std::vector< std::pair< std::string, std::vector< Observer > > > | directObservers |
Additional Inherited Members | |
| Protected Member Functions inherited from imstk::TrackingDeviceControl | |
| TrackingDeviceControl (const std::string &name="TrackingDeviceControl") | |
| Protected Member Functions inherited from imstk::DeviceControl | |
| DeviceControl (const std::string &name="DeviceControl") | |
| Protected Member Functions inherited from imstk::Behaviour< UpdateInfo > | |
| Behaviour (const std::string &name="Behaviour") | |
| Behaviour (const bool useTaskGraph, const std::string &name="Behaviour") | |
| virtual void | initGraphEdges (std::shared_ptr< TaskNode > imstkNotUsed(source), std::shared_ptr< TaskNode > imstkNotUsed(sink)) |
| Setup the edges/connections of the TaskGraph. More... | |
| Protected Member Functions inherited from imstk::Component | |
| Component (const std::string &name="Component") | |
| virtual void | init () |
| Initialize the component, called at a later time after all component construction is complete. | |
Detailed Description
Two-jawed laparoscopic tool controlled by external device The tool is composed of three scene objects: pivot, lower jaw and upper jaw The jaws open-close based on the buttons at present. This has to be replaced by potentiometer tracking in future.
Definition at line 24 of file imstkLaparoscopicToolController.h.
The documentation for this class was generated from the following files:
- Source/Controllers/imstkLaparoscopicToolController.h
- Source/Controllers/imstkLaparoscopicToolController.cpp
