class LaparoscopicInterface3D : public UserInterface3D, public Pointed <LaparoscopicInterface3D>

3D laparoscopic Interface that correspond to a specific user interface

Inheritance:

Public Classes

enum	SurgicalToolType the different types of surgical tools that can be simulated with the LIE

Public Methods

virtual Vec3	getTranslation () const returns the translation applied on all coordinates
virtual void	setTranslation (const Vec3 &t) sets the translation applied on all coordinates
virtual Rotation3D	getRotation () const returns the translation applied on all coordinates
virtual void	setRotation (const Rotation3D &r) sets the rotation applied on all coordinates
SurgicalToolType	getSurgicalToolType () const returns the type of surgical tool simulated by the LIE
virtual double	getLength () const returns the scale factor applied on all coordinates
virtual double	getGripperLength () const returns the gripper length
virtual double	getGripperWidth () const returns the gripper width
virtual double	getLIEradius () const returns the radius of the cylinder defining the LIE main body
virtual double	getForceScale () const returns the scale factor applied on all force vectors
virtual void	setLength (const double &s) sets the LIE tool length
virtual void	setLIEradius (const double &s) sets the LIE tool LIEradius
virtual void	setGripperLength (const double &s) sets the gripper length
virtual void	setGripperWidth (const double &s) sets the gripper width
virtual void	setForceScale (const double &s) sets the scale applied on all force vectors
virtual void	setSurgicalToolType (const SurgicalToolType st) returns the type of surgical tool simulated by the LIE
virtual void	setForce (const Vec3 &f) send a force to the LIE device
virtual Vec3	getFixedPoint () returns the fixed point of the laparoscopic device
virtual double	getAxisAngle () returns the angle of rotation of the gripper along the tool axis
virtual Vec3	getEndPoint () returns the end point of the laparoscopic device
virtual Vec3	getGripperAxis () get the gripper axis
virtual int	getDeviceNumber () const returns the number ID of the laparoscopic device
virtual double	getGripperAngle () returns the angle of the gripper in radian unit (0 = closed)
virtual bool	isGripperOpened () test is the gripper at the tip of the laparoscopic device is opened or closed

Public

	constructor LaparoscopicInterface3D (Scene3D *scene, double l=1.0, double r=-1, double gl=-1, double gw=-1) builds a new Laparoscopic Interface
	destructor virtual ~LaparoscopicInterface3D () empty

Protected Fields

SurgicalToolType	toolType the type of surgical instrument simulated by the LIE
Rotation3D	rotation the rotation to apply on all coordinates
Vec3	translation the translation to apply on all coordinates
double	length scale factor to apply on all coordinates
double	LIEradius radius of the cylinder defining the LIE
double	forceScale scale factor to apply on all force vectors
double	gripperLength the gripper length
double	gripperWidth the gripper width

Inherited from UserInterface3D:

enum SurgicalToolType

the different types of surgical tools that can be simulated with the LIE

SurgicalToolType toolType

the type of surgical instrument simulated by the LIE

Rotation3D rotation

the rotation to apply on all coordinates

Vec3 translation

the translation to apply on all coordinates

double length

scale factor to apply on all coordinates

double LIEradius

radius of the cylinder defining the LIE

double forceScale

scale factor to apply on all force vectors

double gripperLength

the gripper length

double gripperWidth

the gripper width

constructor

LaparoscopicInterface3D(Scene3D *scene, double l=1.0, double r=-1, double gl=-1, double gw=-1)

builds a new Laparoscopic Interface

Parameters:

scene - scene where the laparoscopic interface object should be added (if scene is 0, the first existing scene is used or a scene is created== 0)
l - the tool length
r - the tool LIEradius
gl - the gripper length
gw - the gripper width

destructor

virtual ~LaparoscopicInterface3D()

empty

virtual Vec3 getTranslation() const

returns the translation applied on all coordinates

virtual void setTranslation(const Vec3 &t)

sets the translation applied on all coordinates

virtual Rotation3D getRotation() const

returns the translation applied on all coordinates

virtual void setRotation(const Rotation3D &r)

sets the rotation applied on all coordinates

SurgicalToolType getSurgicalToolType() const

returns the type of surgical tool simulated by the LIE

virtual double getLength() const

returns the scale factor applied on all coordinates

virtual double getGripperLength() const

returns the gripper length

virtual double getGripperWidth() const

returns the gripper width

virtual double getLIEradius() const

returns the radius of the cylinder defining the LIE main body

virtual double getForceScale() const

returns the scale factor applied on all force vectors

virtual void setLength(const double &s)

sets the LIE tool length

virtual void setLIEradius(const double &s)

sets the LIE tool LIEradius

virtual void setGripperLength(const double &s)

sets the gripper length

virtual void setGripperWidth(const double &s)

sets the gripper width

virtual void setForceScale(const double &s)

sets the scale applied on all force vectors

virtual void setSurgicalToolType(const SurgicalToolType st)

returns the type of surgical tool simulated by the LIE

virtual void setForce(const Vec3 &f)

send a force to the LIE device

virtual Vec3 getFixedPoint()

returns the fixed point of the laparoscopic device

virtual double getAxisAngle()

returns the angle of rotation of the gripper along the tool axis

virtual Vec3 getEndPoint()

returns the end point of the laparoscopic device

virtual Vec3 getGripperAxis()

get the gripper axis

virtual int getDeviceNumber() const

returns the number ID of the laparoscopic device

virtual double getGripperAngle()

returns the angle of the gripper in radian unit (0 = closed)

virtual bool isGripperOpened()

test is the gripper at the tip of the laparoscopic device is opened or closed

alphabetic index hierarchy of classes

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(c)opyright by Malte Zöckler, Roland Wunderling
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