Specialized sub-class of AbstractGantry to represent systems using a C-arm mounting for source and detector. More...

#include <carmgantry.h>

Inheritance diagram for CTL::CarmGantry:

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Collaboration diagram for CTL::CarmGantry:

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Public Types
enum	{ Type = 210 }

Public Types inherited from CTL::AbstractGantry
enum	{ Type = 200 }

Public Types inherited from CTL::SystemComponent
enum	{ Type = 0 }

Public Types inherited from CTL::SerializationInterface
enum	{ Type = -1, UserType = 65536 }

Public Member Functions
int	type () const override

	CarmGantry (double cArmSpan=1000.0, const QString &name=defaultName())

SystemComponent *	clone () const override

QString	info () const override

void	fromVariant (const QVariant &variant) override

QVariant	toVariant () const override

const mat::Location &	location () const

double	cArmSpan () const

void	setLocation (const mat::Location &location)

void	setCarmSpan (double span)

Public Member Functions inherited from CTL::AbstractGantry
mat::Location	sourceLocation () const

mat::Location	detectorLocation () const

const mat::Location &	detectorDisplacement () const

const mat::Location &	gantryDisplacement () const

const mat::Location &	sourceDisplacement () const

void	setDetectorDisplacement (const mat::Location &displacement)

void	setGantryDisplacement (const mat::Location &displacement)

void	setSourceDisplacement (const mat::Location &displacement)

Vector3x1	sourcePosition () const

Matrix3x3	sourceRotation () const

Vector3x1	detectorPosition () const

Matrix3x3	detectorRotation () const

void	setDetectorDisplacementAngles (double rollAngle, double tiltAngle, double twistAngle)

void	setDetectorDisplacementPosition (const Vector3x1 &position)

void	setDetectorDisplacementPosition (double x, double y, double z)

void	setGantryDisplacementPosition (const Vector3x1 &position)

void	setGantryDisplacementPosition (double x, double y, double z)

void	setSourceDisplacementPosition (const Vector3x1 &position)

void	setSourceDisplacementPosition (double x, double y, double z)

std::unique_ptr< GenericGantry >	toGeneric () const

Public Member Functions inherited from CTL::SystemComponent
int	type () const override

	SystemComponent (const QString &name=defaultName())

virtual int	elementalType () const

void	fromVariant (const QVariant &variant) override

QVariant	toVariant () const override

const QString &	name () const

void	rename (QString name)

Public Member Functions inherited from CTL::SerializationInterface
virtual	~SerializationInterface ()=default

Static Public Member Functions
static QString	defaultName ()

Static Public Member Functions inherited from CTL::SystemComponent
static QString	defaultName ()

Protected Member Functions
mat::Location	nominalDetectorLocation () const override

mat::Location	nominalSourceLocation () const override

Protected Member Functions inherited from CTL::AbstractGantry
	AbstractGantry (const QString &name)

	AbstractGantry (const AbstractGantry &)=default

	AbstractGantry (AbstractGantry &&)=default

AbstractGantry &	operator= (const AbstractGantry &)=default

AbstractGantry &	operator= (AbstractGantry &&)=default

Protected Member Functions inherited from CTL::SerializationInterface
	SerializationInterface ()=default

	SerializationInterface (const SerializationInterface &)=default

	SerializationInterface (SerializationInterface &&)=default

SerializationInterface &	operator= (const SerializationInterface &)=default

SerializationInterface &	operator= (SerializationInterface &&)=default

Protected Attributes
double	_cArmSpan
	Span of the C-arm, i.e. distance between source and detector (in mm).

mat::Location	_location
	Location of the source (rotation is oriented towards detector).

Private Member Functions
mat::Location	detectorLocationCA () const

Vector3x1	detectorPositionCA () const

Matrix3x3	detectorRotationCA () const

Friends
template<class >
struct	SerializationHelper::RegisterWithSerializationHelper

Additional Inherited Members
Static Protected Member Functions inherited from CTL::SystemComponent
static QString	typeInfoString (const std::type_info &type)

Related Functions inherited from CTL::SystemComponent
std::unique_ptr< ComponentType >	makeComponent (ConstructorArguments &&... arguments)

std::unique_ptr< SystemComponent >	makeComponentFromJson (const QJsonObject &object, bool fallbackToGenericType)

Detailed Description

Specialized sub-class of AbstractGantry to represent systems using a C-arm mounting for source and detector.

The CarmGantry class provides a convenient means to describe a system geometry in which detector and source have a fixed mechanical connection, as it is typical in C-arm mounted CT systems. To fully describe the configuration, the location of the source (i.e. position and rotation, see also AbstractGantry) needs to be given as well as the distance between source and detector.

It is assumed that source and detector are aligned on the optical axis, i.e. a ray from the source that goes through the isocenter hits the center of the detector. (Use the displacement concept if you want to consider misalignments. See AbstractGantry documentation for details on displacement).

Constructor & Destructor Documentation

◆ CarmGantry()

CTL::CarmGantry::CarmGantry	(	double	cArmSpan = `1000.0`,
		const QString &	name = `defaultName()`
	)

Constructs a CarmGantry with a C-arm span (i.e. source-to-detector distance) of cArmSpan and name. If not explicitly specified, the C-arm span defaults to 1000 mm.

Member Function Documentation

◆ cArmSpan()

double CTL::CarmGantry::cArmSpan ( ) const

Returns the span of the C-arm, i.e. the distance between source and detector (in mm).

◆ clone()

SystemComponent * CTL::CarmGantry::clone ( ) const

overridevirtual

Constructs a copy of the object and returns a base class pointer to it.

Reimplemented from CTL::SystemComponent.

◆ defaultName()

QString CTL::CarmGantry::defaultName ( )

static

Returns the default name for the component: "C-arm gantry".

◆ detectorLocationCA()

mat::Location CTL::CarmGantry::detectorLocationCA ( ) const

private

Convenience method. Returns the current detector location (i.e. position and location).

Same as mat::Location(detectorPositionCA(), detectorRotationCA()).

◆ detectorPositionCA()

Vector3x1 CTL::CarmGantry::detectorPositionCA ( ) const

private

Computes the detector position based on the location of the source and the C-arm span, based on the assumption that all components are aligned on the optical axis.

\( t_{\textrm{det}}^{\textrm{nominal}}=t_{\textrm{C-arm}}-R_{\textrm{C-arm}} \cdot\left[\begin{array}{c}0\\0\\-\mathtt{cArmSpan}\end{array}\right], \)

where \(t_{\textrm{C-arm}}\) and \(R_{\textrm{C-arm}}\) are the position and rotation of the C-arm that have been specified by setLocation().

◆ detectorRotationCA()

Matrix3x3 CTL::CarmGantry::detectorRotationCA ( ) const

private

Returns the current detector rotation (i.e. transformation matrix from world to CT coordinates).

In this configuration, this is the same as the transposed source rotation matrix, i.e.: location().rotation.transposed().

\( R_{\textrm{det}}^{\textrm{nominal}}=R_{\textrm{C-arm}}^{T}, \)

where \(R_{\textrm{C-arm}}\) denotes the rotation of the C-arm that has been specified by setLocation().

◆ fromVariant()

void CTL::CarmGantry::fromVariant ( const QVariant & variant )

overridevirtual

Interface to read all member variables from the QVariant variant.

Reimplement this method such that it reads all newly introduced content when sub-classing. A typical reimplementation in sub-classes might look like this:

DirectBaseClass::fromVariant(variant);
// assuming our class has a member "double _myMemberVariable"
_myMemberVariable = variant.toMap().value("my member variable").toDouble();

Reimplemented from CTL::AbstractGantry.

◆ info()

QString CTL::CarmGantry::info ( ) const

overridevirtual

Returns a formatted string with information about the object.

In addition to the information from the base classes (GenericGantry and GenericComponent), the info string contains the following details:

C-arm span,
(nominal) Source location.

Reimplemented from CTL::AbstractGantry.

◆ location()

const mat::Location & CTL::CarmGantry::location ( ) const

Returns the current location of the gantry, i.e. the position (in world coordinates) of the source and its rotation.

◆ nominalDetectorLocation()

mat::Location CTL::CarmGantry::nominalDetectorLocation ( ) const

overrideprotectedvirtual

Returns the nominal detector location. This ignores any (optional) detector displacement.

Overrides the base class method and computes the detector location based on the C-arm parametrization (i.e. source location and C-arm span).

Implements CTL::AbstractGantry.

◆ nominalSourceLocation()

mat::Location CTL::CarmGantry::nominalSourceLocation ( ) const

overrideprotectedvirtual

Returns the nominal source location. This ignores any (optional) source displacement.

Overrides the base class method and returns the source location like specified as part of the C-arm parametrization (i.e. source location and C-arm span).

See also: location().

Implements CTL::AbstractGantry.

◆ setCarmSpan()

void CTL::CarmGantry::setCarmSpan ( double span )

Sets the span of the C-arm, i.e. the distance between source and detector (in mm), to span.

◆ setLocation()

void CTL::CarmGantry::setLocation ( const mat::Location & location )

Sets the location of the gantry to location. This contains the position (in world coordinates) of the source and its rotation.

◆ toVariant()

QVariant CTL::CarmGantry::toVariant ( ) const

overridevirtual

Interface to store all member variables in a QVariant.

Stores the object's type-id.

Reimplement this method such that it stores all newly introduced object data when sub-classing. This needs to cover everything that is necessary to fully determine the state of an object. Best practice is to invoke the base class version of this method to take care of all content originating from underlying base classes.

A typical reimplementation in sub-classes might look like this:

QVariantMap ret = DirectBaseClass::toVariant().toMap();
ret.insert("my member variable", _myMemberVariable);
return ret;

Reimplemented from CTL::AbstractGantry.

◆ type()

int CTL::CarmGantry::type ( ) const

inlineoverridevirtual

Returns the type-id of the serializable object. Used in deserialization to determine the proper object type.

Add derived classes to the enumeration using the CTL_TYPE_ID macro.

Reimplemented from CTL::AbstractGantry.

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

modules/src/components/carmgantry.h
modules/src/components/carmgantry.cpp

Public Types

Public Member Functions

Static Public Member Functions

Protected Member Functions

Protected Attributes

Private Member Functions

Friends

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ CarmGantry()

Member Function Documentation

◆ cArmSpan()

◆ clone()

◆ defaultName()

◆ detectorLocationCA()

◆ detectorPositionCA()

◆ detectorRotationCA()

◆ fromVariant()

◆ info()

◆ location()

◆ nominalDetectorLocation()

◆ nominalSourceLocation()

◆ setCarmSpan()

◆ setLocation()

◆ toVariant()

◆ type()