public void SELECT_EXIT(Joints joints)
{
needle.kinematics.joint.UpperBevel = joints.UpperBevel;
needle.kinematics.joint.LowerBevel = joints.LowerBevel;
needle.kinematics.joint.Elbow = joints.Elbow;
needle.kinematics.joint.twist = joints.twist;
needle.update_needle();
trajectory.exit_point = NeedleKinematics.get_translation(needle.head);//mode.two_point_suturing
trajectory.set_entry_needle(joints);
trajectory.set_exit_needle(joints);
state++;
// delete late
/*
* Joints traj_joint = trajectory.update_trajectory(joints);
* needle.kinematics.joint.UpperBevel = traj_joint.UpperBevel;
* needle.kinematics.joint.LowerBevel = traj_joint.LowerBevel;
* needle.kinematics.joint.Elbow = traj_joint.Elbow;
* needle.kinematics.joint.twist = traj_joint.twist;
* needle.update_needle();
* */
//
}
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;
}
}
void get_p2()
{
this.p2 = NeedleKinematics.get_translation(M_target);
}
void get_p0()
{
this.p0 = NeedleKinematics.get_translation(M_initial);
}