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[InterventionalRadiologyController] Remove motionData-related code #234

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Merged
hugtalbot merged 1 commit into from
Jul 16, 2026
+4 −61
Merged

[InterventionalRadiologyController] Remove motionData-related code #234

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10 changes: 3 additions & 7 deletions src/BeamAdapter/component/controller/InterventionalRadiologyController.h
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Original file line number Diff line number Diff line change
Expand Up @@ -156,7 +156,6 @@ class InterventionalRadiologyController : public sofa::component::controller::Me
void totalLengthIsChanging(const type::vector<Real>& newNodeCurvAbs, type::vector<Real>& modifiedNodeCurvAbs, const type::vector< type::vector<int> >& newTable);
void fixFirstNodesWithUntil(unsigned int first_simulated_Node);
void activateBeamListForCollision( type::vector<Real> &curv_abs, type::vector< type::vector<int> > &id_instrument_table);
void loadMotionData(std::string filename);

Data<int> d_controlledInstrument;
Data<type::vector<Real>> d_xTip;
Expand All @@ -167,12 +166,11 @@ class InterventionalRadiologyController : public sofa::component::controller::Me
Data<Coord> d_startingPos;
Data<Real> d_threshold;
Data<type::vector<Real>> d_rigidCurvAbs; // Pairs (start - end)
Data<std::string> d_motionFilename;
Data<unsigned int> d_indexFirstNode; // First Node simulated


bool m_useBeamActions = false;
bool m_FF, m_RW, m_sensored;
bool m_FF = false, m_RW = false;

SingleLink<
InterventionalRadiologyController, FixedProjectiveConstraint<DataTypes>,
Expand All @@ -183,8 +181,6 @@ class InterventionalRadiologyController : public sofa::component::controller::Me

DeprecatedAndRemoved m_fixedConstraint;

type::vector<Vec3d> m_sensorMotionData;
unsigned int m_currentSensorData;
type::vector<Real> m_nodeCurvAbs;
type::vector< type::vector<int> > m_idInstrumentCurvAbsTable;
};
Expand Down
55 changes: 1 addition & 54 deletions src/BeamAdapter/component/controller/InterventionalRadiologyController.inl
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Original file line number Diff line number Diff line change
Expand Up @@ -38,7 +38,6 @@
#include <sofa/component/topology/container/dynamic/EdgeSetGeometryAlgorithms.h>
#include <sofa/core/behavior/MechanicalState.h>
#include <sofa/helper/AdvancedTimer.h>
#include <sofa/helper/system/FileRepository.h>
#include <sofa/type/vector_algorithm.h>


Expand Down Expand Up @@ -68,12 +67,10 @@ InterventionalRadiologyController<DataTypes>::InterventionalRadiologyController(
, d_startingPos(initData(&d_startingPos,Coord(),"startingPos","starting pos for inserting the instrument"))
, d_threshold(initData(&d_threshold, (Real)0.01, "threshold", "threshold for controller precision which is homogeneous to the unit of length used in the simulation"))
, 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"))
, l_mechanicalTopology(initLink("topology", "Path to the mechanical topology"))
{
m_sensored =false;
}


Expand Down Expand Up @@ -137,13 +134,7 @@ void InterventionalRadiologyController<DataTypes>::init()
{
m_FF=true;
m_RW=false;
m_sensored = false;
}
if (!d_motionFilename.getValue().empty())
{
m_FF = true; m_sensored = true; m_currentSensorData = 0;
loadMotionData(d_motionFilename.getValue());
}

auto checkData = [&](auto& data)
{
Expand Down Expand Up @@ -296,31 +287,6 @@ void InterventionalRadiologyController<DataTypes>::init()
sofa::core::objectmodel::BaseComponent::d_componentState.setValue(sofa::core::objectmodel::ComponentState::Valid);
}

template<class DataTypes>
void InterventionalRadiologyController<DataTypes>::loadMotionData(std::string filename)
{
if (!helper::system::DataRepository.findFile(filename))
{
msg_error() << "File " << filename << " not found.";
return;
}
std::ifstream file(filename.c_str());

std::string line;
Vec3 result;
while( std::getline(file,line) )
{
if (line.empty())
continue;
std::istringstream values(line);
values >> result[0] >> result[1] >> result[2];
result[0] /= 1000;
m_sensorMotionData.push_back(result);
}

file.close();
}

/*!
* \todo fix the mouse event with better controls
*/
Expand Down Expand Up @@ -413,26 +379,7 @@ void InterventionalRadiologyController<DataTypes>::onBeginAnimationStep(const do
}
if (m_FF)
{
if (!m_sensored)
xInstrTip[id] += d_speed.getValue() * context->getDt();
else
{
unsigned int newSensorData = m_currentSensorData + 1;

while( m_sensorMotionData[newSensorData][0] < context->getTime() )
{
m_currentSensorData = newSensorData;
newSensorData++;
}
if(newSensorData >= m_sensorMotionData.size())
{
xInstrTip[id] = 0;
}
else
{
xInstrTip[id] += m_sensorMotionData[m_currentSensorData][1];
}
}
xInstrTip[id] += d_speed.getValue() * context->getDt();
}
if (m_RW)
{
Expand Down
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