public static void specified_pos(Needle needle)
{
/*
Needle needle = new Needle(); // for sake of have a valid head position and initial joint values for the following optimizer
needle.kinematics.joint.UpperBevel = 60;
needle.kinematics.joint.LowerBevel = 60;
needle.kinematics.joint.Elbow = 150; // no need for twist, twist will be given in loop
needle.kinematics.joint.twist=0;
needle.update_needle();
*/
Optimizer optimizer = new Optimizer();
optimizer.point_target.X = NeedleKinematics.get_translation(needle.head).X;
optimizer.point_target.Y = NeedleKinematics.get_translation(needle.head).Y;
optimizer.point_target.Z = NeedleKinematics.get_translation(needle.head).Z;
optimizer.x = new double[3] { needle.kinematics.joint.UpperBevel, needle.kinematics.joint.LowerBevel, needle.kinematics.joint.Elbow };
int n = 20;
for (int i = 0; i < n; i++)
{
optimizer.point_target.W = i * 360 / n;
Joints optimized_joints = optimizer.minimize_postionNtwist();
needle.kinematics.joint=optimized_joints;
needle.update_needle();
Print.PrintJointOnFile(optimized_joints);
Print.PrintMatrixOnFile(needle.center);
optimizer.x = new double[3] { optimized_joints.UpperBevel, optimized_joints.LowerBevel, optimized_joints.Elbow };
}
}
public static void specified_pos(Needle needle)
{
/*
* Needle needle = new Needle(); // for sake of have a valid head position and initial joint values for the following optimizer
* needle.kinematics.joint.UpperBevel = 60;
* needle.kinematics.joint.LowerBevel = 60;
* needle.kinematics.joint.Elbow = 150; // no need for twist, twist will be given in loop
* needle.kinematics.joint.twist=0;
* needle.update_needle();
*/
Optimizer optimizer = new Optimizer();
optimizer.point_target.X = NeedleKinematics.get_translation(needle.head).X;
optimizer.point_target.Y = NeedleKinematics.get_translation(needle.head).Y;
optimizer.point_target.Z = NeedleKinematics.get_translation(needle.head).Z;
optimizer.x = new double[3] {
needle.kinematics.joint.UpperBevel, needle.kinematics.joint.LowerBevel, needle.kinematics.joint.Elbow
};
int n = 20;
for (int i = 0; i < n; i++)
{
optimizer.point_target.W = i * 360 / n;
Joints optimized_joints = optimizer.minimize_postionNtwist();
needle.kinematics.joint = optimized_joints;
needle.update_needle();
Print.PrintJointOnFile(optimized_joints);
Print.PrintMatrixOnFile(needle.center);
optimizer.x = new double[3] {
optimized_joints.UpperBevel, optimized_joints.LowerBevel, optimized_joints.Elbow
};
}
}
public void SELECT_ENTRY(Joints joints)
{
needle.kinematics.joint.UpperBevel = joints.UpperBevel; //-60; //joints.UpperBevel;
needle.kinematics.joint.LowerBevel = joints.LowerBevel; //-50;// joints.LowerBevel;
needle.kinematics.joint.Elbow = joints.Elbow; //80;// joints.Elbow;
needle.kinematics.joint.twist = joints.twist; //0;// joints.twist;
needle.update_needle(); // one-point suturing
Print.PrintJointOnFile(joints); // print joints at the entry time
switch (mode)
{
case 1: // mode.one_point_suturing
state++;
state++;
break;
case 2: //mode.two_point_suturing
trajectory.entry_point = NeedleKinematics.get_translation(needle.head);
//trajectory.set_entry_needle(joints);
state++;
break;
}
}
public static void optimization_test() // given a matrix find the possible one
{
Optimizer optimizaer = new Optimizer();
Matrix3D T_target = new Matrix3D(0.0630, 0.0303, 0.9976, 129.7036,
-0.2570, 0.9663, -0.0131, -43.1047,
-0.9643, -0.2556, 0.0686, 13.1218,
0, 0, 0, 1.0000);
optimizaer.T_taget = T_target;
optimizaer.x = new double[4] {
-50.0282200688546, -75.3754525301847, 57.2766149563357, 162
};
Joints optimized_joints;
optimized_joints = optimizaer.minimize_error();
Needle needle = new Needle();
needle.kinematics.joint = optimized_joints;
needle.update_needle();
}
public void set_entry_needle(Joints joint)
{
double central_angle = get_central_angle();
Optimizer optimizer = new Optimizer();
Point4D target = new Point4D(entry_point.X, entry_point.Y, entry_point.Z, central_angle);
Console.Write("\noTarget entry: {0}, {1}, {2}, {3}", entry_point.X, entry_point.Y, entry_point.Z, central_angle);
optimizer.point_target = target;
optimizer.x = new double[] { joint.UpperBevel, joint.LowerBevel, joint.Elbow, joint.twist };
Joints optimized = optimizer.minimize_angle();
needle_entry.kinematics.joint.UpperBevel = optimized.UpperBevel;
needle_entry.kinematics.joint.LowerBevel = optimized.LowerBevel;
needle_entry.kinematics.joint.Elbow = optimized.Elbow;
needle_entry.kinematics.joint.twist = optimized.twist;
needle_entry.update_needle();
// setup needle_mid
needle_mid.kinematics.joint.UpperBevel = needle_entry.kinematics.joint.UpperBevel;
needle_mid.kinematics.joint.LowerBevel = needle_entry.kinematics.joint.LowerBevel;
needle_mid.kinematics.joint.Elbow = needle_entry.kinematics.joint.Elbow;
needle_mid.kinematics.joint.twist = needle_entry.kinematics.joint.twist;
needle_mid.update_needle();
}