public void update_needle_holder_position(Matrix3D T35)
{
Vector3D tip = new Vector3D(needle_tip_position.X, needle_tip_position.Y, needle_tip_position.Z);
Vector3D needle = new Vector3D(-28, 0, 0);
Vector3D grasper = new Vector3D();
tip = NeedleKinematics.correctionBack(tip);
Vector3D rotated_needle = new Vector3D();
rotated_needle = NeedleKinematics.transform(T35, needle);
grasper = tip - rotated_needle;
grasper = NeedleKinematics.correction(grasper);
needle_holder_position.X = grasper.X;
needle_holder_position.Y = grasper.Y;
needle_holder_position.Z = grasper.Z;
}
public Needle()
{
kinematics = new NeedleKinematics();
}
public Needle()
{
kinematics = new NeedleKinematics();
}