void qSlicerArielImplantPlanModuleWidgetPrivate::updateStemCutPlane() { Q_Q(qSlicerArielImplantPlanModuleWidget); if (curStemInfo.brand.empty() || curStemInfo.type.empty()) return; vtkNew<vtkMatrix4x4> stemPoseMatrix; stemPoseNode->GetMatrixTransformToParent(stemPoseMatrix); // 活动评估下 if (currentMode == qSlicerArielImplantPlanModuleWidgetPrivate::CollisionDetect) if (::isPoseValid(this->stemPoseMatrixRaw)) { stemPoseMatrix->DeepCopy(this->stemPoseMatrixRaw); } vtkNew<vtkMatrix4x4> identity; if (areMatricesEqual(stemPoseMatrix, identity)) return; double stemInfo[4]; stemInfo[0] = curStemInfo.neckLength; stemInfo[1] = curStemInfo.horizontalOffset; stemInfo[2] = curStemInfo.neckShaftAngle; stemInfo[3] = curStemInfo.cutAngle; // transform double origin[3], normal[3]; currentModuleLogic->getCutFemurPlaneOriginAndNormal(stemInfo, origin, normal); vtkNew<vtkPlane> stemCutPlane; currentModuleLogic->getTransformedPlane(origin, normal, stemPoseMatrix, stemCutPlane); stemCutPlane->GetOrigin(origin); stemCutPlane->GetNormal(normal); // Plane if (stemCutPlane && this->stemCutPlane) { std::cout << __FUNCTION__ << std::endl; //股骨柄切面高度 auto stemHeight = q->calculateCutFemurHeight(origin, normal); std::cout << u8"股骨柄切面高度:height=" << stemHeight << std::endl; //当前截骨面高度 auto distance = q->calculateCutFemurHeight(); std::cout << u8"矫正前截骨面高度:distance=" << distance << std::endl; //偏移=实际-理论 std::cout << u8"截骨偏移: cutPlaneOffset=" << cutPlaneOffset << std::endl; //高度or法向量 不相等:调节 if ((stemHeight + cutPlaneOffset) != distance) { //重置PlaneNode double newOrigin[3] = {0}; double newNormal[3] = {0}; memcpy(newNormal, normal, sizeof(double) * 3); if (cutPlaneOffset == 0.0) memcpy(newOrigin, origin, sizeof(double) * 3); else currentModuleLogic->calculatePositionOfCutPlaneByOffset(origin, normal, cutPlaneOffset, newOrigin); this->stemCutPlane->setPlaneNodeByPlaneType( PlaneType( {newNormal[0], newNormal[1], newNormal[2], newOrigin[0], newOrigin[1], newOrigin[2]}), this->cutPlaneRadius); //重置高度 q->resetCutFemurHeightSpinBoxValue(); //重新获取offset distance = q->calculateCutFemurHeight(); std::cout << u8"矫正后截骨面高度:distance=" << distance << ", stemHeight=" << stemHeight << std::endl; } } }
时间: 2023-02-09 08:52:46 浏览: 90
这段代码看起来是在更新一个叫做"stemCutPlane"的切割平面。首先,它检查当前模块是否处于"CollisionDetect"模式,如果是,它会把"stemPoseMatrix"的值设置为"stemPoseMatrixRaw"。然后,它使用当前的"stemInfo"数组来获取平面的原点和法向量,并使用"stemPoseMatrix"对平面进行变换。最后,它获取变换后平面的原点和法向量。
相关问题
下面这段代码的作用是什么void EKFLocalizer::setCurrentResult() { current_ekf_pose_.header.frame_id = pose_frame_id_; current_ekf_pose_.header.stamp = ros::Time::now(); current_ekf_pose_.pose.position.x = ekf_.getXelement(IDX::X); current_ekf_pose_.pose.position.y = ekf_.getXelement(IDX::Y); tf2::Quaternion q_tf; //四元数 double roll, pitch, yaw; if (current_pose_ptr_ != nullptr) { current_ekf_pose_.pose.position.z = current_pose_ptr_->pose.position.z; tf2::fromMsg(current_pose_ptr_->pose.orientation, q_tf); /* use Pose pitch and roll */ tf2::Matrix3x3(q_tf).getRPY(roll, pitch, yaw); } else { current_ekf_pose_.pose.position.z = 0.0; roll = 0; pitch = 0; } yaw = ekf_.getXelement(IDX::YAW) + ekf_.getXelement(IDX::YAWB); q_tf.setRPY(roll, pitch, yaw); tf2::convert(q_tf, current_ekf_pose_.pose.orientation); current_ekf_twist_.header.frame_id = "base_link"; current_ekf_twist_.header.stamp = ros::Time::now(); current_ekf_twist_.twist.linear.x = ekf_.getXelement(IDX::VX); current_ekf_twist_.twist.angular.z = ekf_.getXelement(IDX::WZ); }
这段代码的作用是将当前的 EKF 定位结果存储到 current_ekf_pose_ 和 current_ekf_twist_ 变量中,其中包括位置、姿态、线速度和角速度等信息。具体实现过程中,通过获取 EKF 算法中的状态量,以及当前机器人的姿态信息,计算出当前机器人的位置和姿态,并将其存储到变量中。同时,也将机器人的线速度和角速度存储到 current_ekf_twist_ 变量中。
Error: Class declaration lacks Q_OBJECT macro.
这个错误通常是因为在Qt的类中使用了信号和槽机制,但是没有在类的声明中添加Q_OBJECT宏,这个宏是Qt的元对象系统必须的,用于生成类的元对象代码。
要解决这个问题,只需要在你的类的声明中添加Q_OBJECT宏即可,例如:
```c++
class MyClass : public QObject {
Q_OBJECT
public:
// ...
signals:
void mySignal();
public slots:
void mySlot();
};
```
添加Q_OBJECT宏后,再重新编译你的代码,这个错误就应该会消失了。