class PhantomInterface3D : public UserInterface3D

3D PHANToM Interface *

Inheritance:

Public Classes

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

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 PHANToM
virtual double	getScale () const returns the scale factor applied on all coordinates
virtual double	getForceScale () const returns the scale factor applied on all force vectors
virtual void	setScale (const double &s) sets the scale factor applied on all coordinates
virtual void	setForceScale (const double &s) sets the scale applied on all force vectors
virtual void	setSurgicalToolType (const SurgicalToolType st) sets the type of surgical tool simulated by the PHANToM
virtual Vec3	getTipPosition (int n=0) get the tip position at a given simulation step (0=current, -1=previous, ...)
virtual Vec3	getBottomPosition (int n=0) get the bottom position at a given simulation step (0=current, -1=previous, ...)
virtual Rotation3D	getRotationMatrix (int n=0) get the rotation matrix at a given simulation step (0=current, -1=previous, ...)
virtual Vec3	getStylusOrientation (int n=0) get the stylus orientation at a given simulation step (0=current, -1=previous, ...)
virtual Vec3	getSwitchOrientation (int n=0) get the switch orientation at a given simulation step (0=current, -1=previous, ...)
virtual bool	isStylusButtonPressed (int n=0) get the PHANToM button status at a given simulation step (0=current, -1=previous, ...)
virtual double	getTimeStamp (int n=0) get the time stamp of a given simulation step (0=current, -1=previous, ...)
virtual void	setForce (const Vec3 &f) send a force to the PHANToM device
virtual double	getPhantomLength () const returns the phantom length
virtual double	getPhantomRadius () const returns the phantom radius
virtual double	getStylusLength () const returns the stylus length
virtual double	getStylusRadius () const returns the stylus radius
virtual void	setStylusLength (const double &l) sets the stylus length
virtual void	setStylusRadius (const double &r) sets the stylus radius
virtual double	getTipLength () const returns the tip length
virtual double	getTipRadius () const returns the tip radius
virtual void	setTipLength (const double &l) sets the tip length
virtual void	setTipRadius (const double &r) sets the tip radius

Public

	constructor PhantomInterface3D (Scene3D *scene, double sl, double sr, double tl, double tr) builds a new PHANToM Interface
	destructor virtual ~PhantomInterface3D () empty

Protected Fields

SurgicalToolType	toolType the type of surgical instrument simulated by the PHANToM
Rotation3D	rotation the rotation to apply on all coordinates
Vec3	translation the translation to apply on all coordinates
double	coordScale scale factor to apply on all coordinates
double	forceScale scale factor to apply on all force vectors
double	stylusLength length of the phantom stylus
double	stylusRadius radius of the cylinder defining the stylus (actually stylusRadius == tipRadius)
double	tipLength length of the phantom tip
double	tipRadius radius of the cone defining the tip (actually stylusRadius == tipRadius)
double	phantomLength length of the phantom stylus+tip. This is a dependent parameter. Do not set directly.
double	phantomRadius the radius of the phantom, i.e. max(r_stlyus, r_tip). This is a dependent parameter. Do not set directly. (actually stylusRadius == tipRadius)

Inherited from UserInterface3D:

enum SurgicalToolType

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

SurgicalToolType toolType

the type of surgical instrument simulated by the PHANToM

Rotation3D rotation

the rotation to apply on all coordinates

Vec3 translation

the translation to apply on all coordinates

double coordScale

scale factor to apply on all coordinates

double forceScale

scale factor to apply on all force vectors

double stylusLength

length of the phantom stylus

double stylusRadius

radius of the cylinder defining the stylus (actually stylusRadius == tipRadius)

double tipLength

length of the phantom tip

double tipRadius

radius of the cone defining the tip (actually stylusRadius == tipRadius)

double phantomLength

length of the phantom stylus+tip. This is a dependent parameter. Do not set directly.

double phantomRadius

the radius of the phantom, i.e. max(r_stlyus, r_tip). This is a dependent parameter. Do not set directly. (actually stylusRadius == tipRadius)

constructor

PhantomInterface3D(Scene3D *scene, double sl, double sr, double tl, double tr)

builds a new PHANToM Interface

Parameters:

scene - scene to which the PHANToM interface object will be added (if scene is 0, the first existing scene is used or a scene is created== 0)
sl - length of the phantom stylus
sr - radius of the cylinder defining the stylus
tl - length of the phantom tip
tr - radius of the cone defining the tip

destructor

virtual ~PhantomInterface3D()

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 PHANToM

virtual double getScale() const

returns the scale factor applied on all coordinates

virtual double getForceScale() const

returns the scale factor applied on all force vectors

virtual void setScale(const double &s)

sets the scale factor applied on all coordinates

virtual void setForceScale(const double &s)

sets the scale applied on all force vectors

virtual void setSurgicalToolType(const SurgicalToolType st)

sets the type of surgical tool simulated by the PHANToM

virtual Vec3 getTipPosition(int n=0)

get the tip position at a given simulation step (0=current, -1=previous, ...)

virtual Vec3 getBottomPosition(int n=0)

get the bottom position at a given simulation step (0=current, -1=previous, ...)

virtual Rotation3D getRotationMatrix(int n=0)

get the rotation matrix at a given simulation step (0=current, -1=previous, ...)

virtual Vec3 getStylusOrientation(int n=0)

get the stylus orientation at a given simulation step (0=current, -1=previous, ...)

virtual Vec3 getSwitchOrientation(int n=0)

get the switch orientation at a given simulation step (0=current, -1=previous, ...)

virtual bool isStylusButtonPressed(int n=0)

get the PHANToM button status at a given simulation step (0=current, -1=previous, ...)

virtual double getTimeStamp(int n=0)

get the time stamp of a given simulation step (0=current, -1=previous, ...)

virtual void setForce(const Vec3 &f)

send a force to the PHANToM device

virtual double getPhantomLength() const

returns the phantom length

virtual double getPhantomRadius() const

returns the phantom radius

virtual double getStylusLength() const

returns the stylus length

virtual double getStylusRadius() const

returns the stylus radius

virtual void setStylusLength(const double &l)

sets the stylus length

virtual void setStylusRadius(const double &r)

sets the stylus radius

virtual double getTipLength() const

returns the tip length

virtual double getTipRadius() const

returns the tip radius

virtual void setTipLength(const double &l)

sets the tip length

virtual void setTipRadius(const double &r)

sets the tip radius

alphabetic index hierarchy of classes

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