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[IRC] Add a Link for the mandatory FixedConstraint #152

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merged 3 commits into from
Aug 26, 2024
Merged

[IRC] Add a Link for the mandatory FixedConstraint #152

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ceb0ca7
Change ptr to fixedConstraint to Link and Avoid crashing if no FixedC…
fredroy Jul 10, 2024
1726eba
Apply suggestions from code review (renaming with FixedProjectiveCons…
fredroy Jul 12, 2024
67c3087
remove creation of fixedconstraint
fredroy Jul 18, 2024
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7 changes: 6 additions & 1 deletion src/BeamAdapter/component/controller/InterventionalRadiologyController.h
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Original file line number Diff line number Diff line change
Expand Up @@ -179,7 +179,12 @@ class InterventionalRadiologyController : public MechanicalStateController<DataT

bool m_useBeamActions = false;
bool m_FF, m_RW, m_sensored;
FixedProjectiveConstraint<DataTypes> * m_fixedConstraint;

SingleLink<
InterventionalRadiologyController, FixedProjectiveConstraint<DataTypes>,
BaseLink::FLAG_STOREPATH | BaseLink::FLAG_STRONGLINK> l_fixedConstraint;
DeprecatedAndRemoved m_fixedConstraint;

type::vector<Vec3d> m_sensorMotionData;
unsigned int m_currentSensorData;
type::vector<Real> m_nodeCurvAbs;
Expand Down
31 changes: 21 additions & 10 deletions src/BeamAdapter/component/controller/InterventionalRadiologyController.inl
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Original file line number Diff line number Diff line change
Expand Up @@ -70,8 +70,8 @@ InterventionalRadiologyController<DataTypes>::InterventionalRadiologyController(
, d_rigidCurvAbs(initData(&d_rigidCurvAbs, "rigidCurvAbs", "pairs of curv abs for beams we want to rigidify"))
, d_motionFilename(initData(&d_motionFilename, "motionFilename", "text file that includes tracked motion from optical sensor"))
, d_indexFirstNode(initData(&d_indexFirstNode, (unsigned int) 0, "indexFirstNode", "first node (should be fixed with restshape)"))
, l_fixedConstraint(initLink("fixedConstraint", "Path to the FixedProjectiveConstraint"))
{
m_fixedConstraint = nullptr;
m_sensored =false;
}

Expand Down Expand Up @@ -134,9 +134,21 @@ void InterventionalRadiologyController<DataTypes>::init()
for(unsigned int i=0; i<m_instrumentsList.size(); i++)
m_instrumentsList[i]->setControlled(true);

context->get(m_fixedConstraint);
if(m_fixedConstraint==nullptr)
msg_error()<<"No fixedConstraint found.";
if (!l_fixedConstraint)
{
typename FixedProjectiveConstraint<DataTypes>::SPtr fixedConstraint{};
context->get(fixedConstraint);
if (fixedConstraint)
{
l_fixedConstraint.set(fixedConstraint);
}
else
{
msg_error() << "No FixedProjectiveConstraint found or set. It will most likely lead to a crash.";

this->d_componentState.setValue(sofa::core::objectmodel::ComponentState::Invalid);
}
}

// the controller must listen to the event (in particular BeginAnimationStep event)
if (!f_listening.isSet())
Expand Down Expand Up @@ -703,7 +715,6 @@ void InterventionalRadiologyController<DataTypes>::applyInterventionalRadiologyC
{
const Real& threshold = d_threshold.getValue();


// Create vectors with the CurvAbs of the noticiable points and the id of the corresponding instrument
type::vector<Real> newCurvAbs;
type::vector<type::vector<int>> idInstrumentTable;
Expand Down Expand Up @@ -907,11 +918,11 @@ void InterventionalRadiologyController<DataTypes>::applyInterventionalRadiologyC
if (!rigid)
{
rigid=true;
m_fixedConstraint->addConstraint(firstSimulatedNode+i);
l_fixedConstraint->addConstraint(firstSimulatedNode+i);
}
else
{
m_fixedConstraint->addConstraint(firstSimulatedNode+i);
l_fixedConstraint->addConstraint(firstSimulatedNode+i);
rigid=false;
}
it++;
Expand All @@ -922,7 +933,7 @@ void InterventionalRadiologyController<DataTypes>::applyInterventionalRadiologyC
else
{
if(rigid)
m_fixedConstraint->addConstraint(firstSimulatedNode+i);
l_fixedConstraint->addConstraint(firstSimulatedNode+i);
}
}
}
Expand Down Expand Up @@ -1030,12 +1041,12 @@ void InterventionalRadiologyController<DataTypes>::fixFirstNodesWithUntil(unsign

// set the position to startingPos for all the nodes that are not simulated
// and add a fixedConstraint
m_fixedConstraint->clearConstraints();
l_fixedConstraint->clearConstraints();
for(unsigned int i=0; i<firstSimulatedNode-1 ; i++)
{
xMstate[i]=d_startingPos.getValue();
vMstate[i].clear();
m_fixedConstraint->addConstraint(i);
l_fixedConstraint->addConstraint(i);
}
d_indexFirstNode = firstSimulatedNode-1 ;
}
Expand Down
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