Friday 5/15/2015

Today it's obvious that there is something wrong with the 1-tube code. So this will need to be fixed, probably with a completely new shape calculation function. Also close attention to minimum and maximum insertion values. What this does mean is that I can use this time to change the convention to a forward insertion from the origin though so that's the plan. I've hacked in a solution now but I'm going to make it better at the earliest opportunity, this weekend most likely.
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Manual control of robot is coded.
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[R,p]^-1 = [R', -R'*p]
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Using above formula, now I'm going back and forth between the two frames, tracker and model.
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That's the gelatine
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Goal and trajectory points are being converted to tracker frame in online-planner.cpp
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From thursday, the things that I needed to change in code:

Registration code needs to be completed.

This is basically true, except I need the model measurements of the new points. The code is in TransformationCalc.h and cpp.

The planner needs to be reconverted to use only one tube.
The insertion of the tube needs to be adapted to be a positive mm value, as queried from the robot object, because:

This needs to be done this weekend, there's going to need to be a new shape computation, because Luis' code is not working with only a single tube. During the rewrite, I can change the origin of insertion so that there is positive insertion.

Manual insertion of the ctr and needle (and coupled) needs to happen. (becomes origin for ctr insertion at some point).

This is implemented in online-needle.cpp

online-needle.cpp should capture automatically the start position from the tracker. (This also requires registration).

This now happens in online-needle.cpp

The trajectory following controller should read in the trajectory output from online-needle, or online-needle should send it directly, either way.

Going to run the controller from online-needle. It now constructs the right trajectory for that.

Orientation of concentric tube robot, alpha value needs calibrated.

Going to do this manually at beginning of experiment.
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1/4'' MDF For the jigs that define the shape of the nitinol tube that is going to be set.
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Dinner was provided this day