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(); }