The KnotIdentificationBehavior detects and identifies a knot in a fem1d representation. More...

#include <KnotIdentificationBehavior.h>

Inheritance diagram for SurgSim::Blocks::KnotIdentificationBehavior:

Classes
struct	Crossing
	struct to store a Crossing. More...

struct	ReidmeisterMove3Data
	struct with variables for tracking Reidmeister move 3. More...

Public Member Functions
	KnotIdentificationBehavior (const std::string &name)

void	setFem1d (const std::shared_ptr< SurgSim::Framework::Component > &fem1d)

const std::shared_ptr< SurgSim::Physics::Fem1DRepresentation > &	getFem1d () const

const std::string &	getKnotName ()

void	update (double dt) override
	Update the behavior. More...

int	getTargetManagerType () const override
	Specifies which manger will handle this behavior.

bool	doInitialize () override
	Interface to be implemented by derived classes. More...

bool	doWakeUp () override
	Interface to be implemented by derived classes. More...

void	addKnownKnotCode (const std::string &name, const std::vector< int > &code, const std::vector< int > &signs)
	Function to add a known knot code to the list. More...

void	clearKnownKnotCodes ()
	Function to clear the known knot code list.

Public Member Functions inherited from SurgSim::Framework::Behavior
	Behavior (const std::string &name)

Public Member Functions inherited from SurgSim::Framework::Component
	Component (const std::string &name)
	Constructor. More...

virtual	~Component ()
	Destructor.

std::string	getName () const
	Gets component name. More...

std::string	getFullName () const
	Gets a string containing the name of the Component and (if it has one) its SceneElement. More...

void	setName (const std::string &name)
	Sets the name of component. More...

boost::uuids::uuid	getUuid () const
	Gets the id of the component.

bool	isInitialized () const

bool	initialize (const std::weak_ptr< Runtime > &runtime)
	Initialize this component, this needs to be called before wakeUp() can be called. More...

bool	isAwake () const

bool	wakeUp ()
	Wakeup this component, this will be called when the component is inserted into the ComponentManager that is responsible for handling this component. More...

void	retire ()
	Retire this component, this will be called when the component is removed from the ComponentManager that is responsible for handling this component. More...

void	setScene (std::weak_ptr< Scene > scene)
	Sets the scene. More...

std::shared_ptr< Scene >	getScene ()
	Gets the scene. More...

void	setSceneElement (std::weak_ptr< SceneElement > sceneElement)
	Sets the scene element. More...

std::shared_ptr< SceneElement >	getSceneElement ()
	Gets the scene element. More...

std::shared_ptr< const SceneElement >	getSceneElement () const
	Gets the scene element, constant version. More...

std::shared_ptr< Runtime >	getRuntime () const
	Get the runtime which contains this component. More...

virtual std::string	getClassName () const
	The class name for this class, this being the base class it should return SurgSim::Framework::Component but this would make missing implemenentations of this hard to catch, therefore this calls SURGSIM_FAILURE. More...

std::shared_ptr< Component >	getSharedPtr ()
	Gets a shared pointer to this component. More...

virtual void	doRetire ()
	Interface to be implemented by derived classes Has a default implementation, does nothing.

bool	isActive () const

virtual void	setLocalActive (bool val)
	Set the component's active state. More...

bool	isLocalActive () const

Public Member Functions inherited from SurgSim::Framework::Accessible
	Accessible ()
	Default Constructor.

	~Accessible ()
	Destructor.

template<class T >
T	getValue (const std::string &name) const
	Retrieves the value with the name by executing the getter if it is found and tries to convert it to the given type. More...

boost::any	getValue (const std::string &name) const
	Retrieves the value with the name by executing the getter if it is found. More...

template<class T >
bool	getValue (const std::string &name, T *value) const
	Retrieves the value with the name by executing the getter if it is found, and converts it to the type of the output parameter. More...

void	setValue (const std::string &name, const boost::any &value)
	Sets a value of a property that has setter. More...

bool	isReadable (const std::string &name) const
	Check whether a property is readable. More...

bool	isWriteable (const std::string &name) const
	Check whether a property is writable. More...

void	setGetter (const std::string &name, GetterType func)
	Sets a getter for a given property. More...

void	setSetter (const std::string &name, SetterType func)
	Sets a setter for a given property. More...

void	setAccessors (const std::string &name, GetterType getter, SetterType setter)
	Sets the accessors getter and setter in one function. More...

void	removeAccessors (const std::string &name)
	Removes all the accessors (getter and setter) for a given property. More...

void	forwardProperty (const std::string &name, const Accessible &target, const std::string &targetProperty)
	Adds a property with the given name that uses the targets accessors, in effect forwarding the value to the target. More...

void	setSerializable (const std::string &name, EncoderType encoder, DecoderType decoder)
	Sets the functions used to convert data from and to a YAML::Node. More...

void	setDecoder (const std::string &name, DecoderType decoder)
	Sets the functions used to convert data from a YAML::Node. More...

YAML::Node	encode () const
	Encode this Accessible to a YAML::Node. More...

void	decode (const YAML::Node &node, const std::vector< std::string > &ignoredProperties=std::vector< std::string >())
	Decode this Accessible from a YAML::Node, will throw an exception if the data type cannot be converted. More...

std::vector< std::string >	getProperties ()

template<>
boost::any	getValue (const std::string &name) const

Protected Member Functions
std::string	detectAndIdentifyKnot (const SurgSim::Math::Matrix33d &projection)

std::vector< Crossing >	getGaussCode (const SurgSim::Math::Matrix33d &projection)

void	buildNodeData (const Math::Vector3d &projectionX, const Math::Vector3d &projectionY, std::vector< SurgSim::Math::Vector3d > nodes3d, std::vector< SurgSim::Math::Vector2d > nodes2d, std::vector< SurgSim::Math::Vector3d > *segments3d)
	Build the node data needed to setup the knot identification. More...

std::vector< Crossing >	calculateCrossings (const Math::Vector3d &projectionZ, const std::vector< SurgSim::Math::Vector3d > &nodes3d, const std::vector< SurgSim::Math::Vector2d > &nodes2d, const std::vector< SurgSim::Math::Vector3d > &segments3d)
	Calculate the crossings from the node data. More...

void	performReidmeisterMoves (std::vector< Crossing > *gaussCode)
	Perform Reidmeister moves. More...

bool	tryReidmeisterMove1 (std::vector< Crossing > gaussCode, std::vector< int > erased)
	Perform Reidmeister move 1. More...

bool	tryReidmeisterMove2 (std::vector< Crossing > gaussCode, std::vector< int > erased)
	Perform Reidmeister move 2. More...

bool	tryReidmeisterMove3 (std::vector< Crossing > gaussCode, ReidmeisterMove3Data data)
	Perform Reidmeister move 3. More...

void	adjustGaussCodeForErasedCrossings (std::vector< Crossing > *gaussCode)
	Squeezes together the ids so that their absolute values are 1, 2, 3, etc. More...

std::string	identifyKnot (const std::vector< Crossing > &gaussCode)
	Identify the knot. More...

Protected Member Functions inherited from SurgSim::Framework::Component
virtual std::shared_ptr< PoseComponent >	getPoseComponent ()
	Get the PoseComponent for this component. More...

virtual std::shared_ptr< const PoseComponent >	getPoseComponent () const
	Get the PoseComponent for this component, constant access. More...

Protected Attributes
std::map< std::string, std::vector< std::vector< Crossing > > >	m_knownLists
	Known knots, mapping the name to a vector of extended gauss codes.

std::shared_ptr< SurgSim::Physics::Fem1DRepresentation >	m_fem1d
	The fem1d within which the knot is checked for.

std::vector< SurgSim::Math::Matrix33d >	m_projections
	The list of projection matrices to try.

boost::mutex	m_mutex
	Mutex for the knot name.

std::string	m_knotName
	The name of the knot that was detected.

Additional Inherited Members
Public Types inherited from SurgSim::Framework::Accessible
typedef std::function< boost::any(void)>	GetterType

typedef std::function< void(boost::any)>	SetterType

typedef std::function< YAML::Node(void)>	EncoderType

typedef std::function< void(const YAML::Node *)>	DecoderType

Public Types inherited from SurgSim::Framework::FactoryBase1< Component, std::string >
typedef ObjectFactory1< Component, std::string >	FactoryType

Static Public Member Functions inherited from SurgSim::Framework::FactoryBase1< Component, std::string >
static FactoryType &	getFactory ()

Detailed Description

The KnotIdentificationBehavior detects and identifies a knot in a fem1d representation.

https://en.wikipedia.org/wiki/Reidemeister_move explains the idea of Reidmeister moves. The document below gives an overview of the algorithm used to detect the knot. https://docs.google.com/document/d/1a8hCCvtFuOapYsj81enORBiN9pcoCS7HIDioquto6LA This behavior may incorrectly identify knots, or fail to identify knots. This code does not correctly handle when three segments projected into 2D all cross at one point, and may fail when fem1d segments projected into 2D are degenerate. It will always fail to identify knots with extra loops or crossings.

Constructor & Destructor Documentation

§ KnotIdentificationBehavior()

SurgSim::Blocks::KnotIdentificationBehavior::KnotIdentificationBehavior ( const std::string & name )

explicit

Parameters

name	The name of this behavior

Member Function Documentation

§ addKnownKnotCode()

void SurgSim::Blocks::KnotIdentificationBehavior::addKnownKnotCode	(	const std::string &	name,
		const std::vector< int > &	code,
		const std::vector< int > &	signs
	)

Function to add a known knot code to the list.

Parameters

name	The name of the knot
code	The gauss code of the knot
signs	The crossing signs of the knot. Orient the knot so that the crossing is in 2D and the under-crossing is traveling upwards. The crossing sign is +1 if the over-crossing is traveling left-to-right, otherwise -1.

§ adjustGaussCodeForErasedCrossings()

void SurgSim::Blocks::KnotIdentificationBehavior::adjustGaussCodeForErasedCrossings ( std::vector< Crossing > * gaussCode )

protected

Squeezes together the ids so that their absolute values are 1, 2, 3, etc.

without gaps.

Parameters

[in,out] gaussCode The gauss code of the knot projection diagram.

§ buildNodeData()

void SurgSim::Blocks::KnotIdentificationBehavior::buildNodeData	(	const Math::Vector3d &	projectionX,
		const Math::Vector3d &	projectionY,
		std::vector< SurgSim::Math::Vector3d > *	nodes3d,
		std::vector< SurgSim::Math::Vector2d > *	nodes2d,
		std::vector< SurgSim::Math::Vector3d > *	segments3d
	)

protected

Build the node data needed to setup the knot identification.

Parameters

projectionX	The x-axis of the projection matrix.
projectionY	The y-axis of the projection matrix.
nodes3d	[out] The 3d positions of the nodes.
nodes2d	[out] The 2d (projected) positions of the nodes.
segments3d	[out] The 3d segments between the nodes.

§ calculateCrossings()

std::vector< KnotIdentificationBehavior::Crossing > SurgSim::Blocks::KnotIdentificationBehavior::calculateCrossings	(	const Math::Vector3d &	projectionZ,
		const std::vector< SurgSim::Math::Vector3d > &	nodes3d,
		const std::vector< SurgSim::Math::Vector2d > &	nodes2d,
		const std::vector< SurgSim::Math::Vector3d > &	segments3d
	)

protected

Calculate the crossings from the node data.

Parameters

projectionZ	The z-axis of the projection matrix.
nodes3d	The 3d positions of the nodes.
nodes2d	The 2d (projected) positions of the nodes.
segments3d	The 3d segments between the nodes.

Returns: The crossings in the fem1d projection.

§ detectAndIdentifyKnot()

std::string SurgSim::Blocks::KnotIdentificationBehavior::detectAndIdentifyKnot ( const SurgSim::Math::Matrix33d & projection )

protected

Parameters

projection The projection matrix to be used.

Returns: The name of the knot, "No Knot", or "Unknown Knot".

§ doInitialize()

bool SurgSim::Blocks::KnotIdentificationBehavior::doInitialize ( )

overridevirtual

Interface to be implemented by derived classes.

Returns: True if component is initialized successfully; otherwise, false.

Implements SurgSim::Framework::Component.

§ doWakeUp()

bool SurgSim::Blocks::KnotIdentificationBehavior::doWakeUp ( )

overridevirtual

Interface to be implemented by derived classes.

Returns: True if component is woken up successfully; otherwise, false.

Implements SurgSim::Framework::Component.

§ getFem1d()

const std::shared_ptr< Physics::Fem1DRepresentation > & SurgSim::Blocks::KnotIdentificationBehavior::getFem1d ( ) const

Returns: The fem1d within which the knot is checked for.

§ getGaussCode()

std::vector< KnotIdentificationBehavior::Crossing > SurgSim::Blocks::KnotIdentificationBehavior::getGaussCode ( const SurgSim::Math::Matrix33d & projection )

protected

Parameters

projection The projection matrix to be used.

Returns: The gauss code of the knot projection diagram.

§ getKnotName()

const std::string & SurgSim::Blocks::KnotIdentificationBehavior::getKnotName ( )

Returns: The knot name.

§ identifyKnot()

std::string SurgSim::Blocks::KnotIdentificationBehavior::identifyKnot ( const std::vector< Crossing > & gaussCode )

protected

Identify the knot.

Parameters

[in,out] gaussCode The reduced gauss code of the knot projection diagram.

Returns: The name of the knot, "No Knot", or "Unknown Knot".

§ performReidmeisterMoves()

void SurgSim::Blocks::KnotIdentificationBehavior::performReidmeisterMoves ( std::vector< Crossing > * gaussCode )

protected

Perform Reidmeister moves.

Parameters

[in,out] gaussCode The gauss code of the knot projection diagram.

§ setFem1d()

void SurgSim::Blocks::KnotIdentificationBehavior::setFem1d ( const std::shared_ptr< SurgSim::Framework::Component > & fem1d )

Parameters

fem1d The fem1d within which the knot is checked for.

§ tryReidmeisterMove1()

bool SurgSim::Blocks::KnotIdentificationBehavior::tryReidmeisterMove1	(	std::vector< Crossing > *	gaussCode,
		std::vector< int > *	erased
	)

protected

Perform Reidmeister move 1.

Parameters

[in,out]	gaussCode	The gauss code of the knot projection diagram.
	erased	The crossings that were erased during this move

Returns: True, if a move was done.

§ tryReidmeisterMove2()

bool SurgSim::Blocks::KnotIdentificationBehavior::tryReidmeisterMove2	(	std::vector< Crossing > *	gaussCode,
		std::vector< int > *	erased
	)

protected

Perform Reidmeister move 2.

Parameters

[in,out]	gaussCode	The gauss code of the knot projection diagram.
	erased	The crossings that were erased during this move

Returns: True, if a move was done.

§ tryReidmeisterMove3()

bool SurgSim::Blocks::KnotIdentificationBehavior::tryReidmeisterMove3	(	std::vector< Crossing > *	gaussCode,
		ReidmeisterMove3Data *	data
	)

protected

Perform Reidmeister move 3.

Parameters

[in,out]	gaussCode	The gauss code of the knot projection diagram.
	data	[in,out] The tracking data for this move.

Returns: True, if a move was done.

§ update()

void SurgSim::Blocks::KnotIdentificationBehavior::update ( double dt )

overridevirtual

Update the behavior.

Parameters

dt	The length of time (seconds) between update calls.

Implements SurgSim::Framework::Behavior.

The documentation for this class was generated from the following files:

SurgSim/Blocks/KnotIdentificationBehavior.h
SurgSim/Blocks/KnotIdentificationBehavior.cpp

Classes

Public Member Functions

Protected Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

§ KnotIdentificationBehavior()

Member Function Documentation

§ addKnownKnotCode()

§ adjustGaussCodeForErasedCrossings()

§ buildNodeData()

§ calculateCrossings()

§ detectAndIdentifyKnot()

§ doInitialize()

§ doWakeUp()

§ getFem1d()

§ getGaussCode()

§ getKnotName()

§ identifyKnot()

§ performReidmeisterMoves()

§ setFem1d()

§ tryReidmeisterMove1()

§ tryReidmeisterMove2()

§ tryReidmeisterMove3()

§ update()