Specialized sub-class of AbstractGantry to represent systems with tube gantries. More...

#include <tubulargantry.h>

Inheritance diagram for CTL::TubularGantry:

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Collaboration diagram for CTL::TubularGantry:

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Public Types
enum	{ Type = 220 }

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

	TubularGantry (double sourceToDetectorDistance, double sourceToIsoCenterDistance, double rotationAngle=0.0, double pitchPosition=0.0, double tiltAngle=0.0, const QString &name=defaultName())

	TubularGantry (double sourceToDetectorDistance, double sourceToIsoCenterDistance, const QString &name)

SystemComponent *	clone () const override

QString	info () const override

void	fromVariant (const QVariant &variant) override

QVariant	toVariant () const override

double	pitchPosition () const
	Returns the table pitch position. Position value is specified in millimeters.

double	rotationAngle () const
	Returns the gantry rotation angle (in radians).

double	tiltAngle () const
	Returns the gantry tilt angle (in radians).

void	setPitchPosition (double position)

void	setRotationAngle (double angle)

void	setTiltAngle (double angle)

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
	SystemComponent (const QString &name=defaultName())

virtual int	elementalType () const

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	_sourceToDetectorDistance
	Distance between source and detector (in mm).

double	_sourceToIsoCenterDistance
	Distance between source and iso center (in mm).

double	_rotationAngle
	Gantry rotation angle (in rad).

double	_pitchPosition
	Table pitch position (in mm).

double	_tiltAngle
	Gantry tilt angle (in rad).

Private Member Functions
Matrix3x3	totalGantryRotation () const

mat::Location	sourceLocationTG () const

mat::Location	detectorLocationTG () const

Vector3x1	sourcePositionTG () const

Matrix3x3	sourceRotationTG () const

Vector3x1	detectorPositionTG () const

Matrix3x3	detectorRotationTG () 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 with tube gantries.

This gantry sub-class allows for simplified description of tubular gantry systems. Instead of the need to specify source and detector position (and orientation) individually, the configuration of the TubularGantry can be fully described by the following parameters:

Source-to-detector distance
Source-to-isocenter distance
Gantry rotation angle
Table pitch position
Gantry tilt angle (optional)

Coordinate system of a tubular gantry. The position of source f, isocenter o and detector d lay on a straight line.

Definition of gantry rotation angle alpha.

Constructor & Destructor Documentation

◆ TubularGantry() [1/2]

CTL::TubularGantry::TubularGantry	(	double	sourceToDetectorDistance,
		double	sourceToIsoCenterDistance,
		double	rotationAngle = `0.0`,
		double	pitchPosition = `0.0`,
		double	tiltAngle = `0.0`,
		const QString &	name = `defaultName()`
	)

Constructs a TubularGantry with the dimensions sourceToDetectorDistance and sourceToIsoCenterDistance. Optionally, the system configuration can be specified by rotationAngle, pitchPosition and tiltAngle. If unspecified, these values default to zero.

◆ TubularGantry() [2/2]

CTL::TubularGantry::TubularGantry	(	double	sourceToDetectorDistance,
		double	sourceToIsoCenterDistance,
		const QString &	name
	)

Convenience constructor that constructs a TubularGantry similar to the full constructor using the dimensions sourceToDetectorDistance and sourceToIsoCenterDistance, but still allows to specify a custom name for the component when omitting the system configuration. Here, all configuration parameters (i.e. gantry rotation angle, table pitch position and gantry tilt angle) default to zero.

Member Function Documentation

◆ clone()

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

overridevirtual

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

Reimplemented from CTL::SystemComponent.

◆ defaultName()

QString CTL::TubularGantry::defaultName ( )

static

Returns the default name for the component: "Tubular gantry".

◆ detectorLocationTG()

mat::Location CTL::TubularGantry::detectorLocationTG ( ) const

private

Computed the current detector location (i.e. position and rotation) based on the system configuration.

Same as mat::Location(detectorPositionTG(), detectorRotationTG())

◆ detectorPositionTG()

Vector3x1 CTL::TubularGantry::detectorPositionTG ( ) const

private

Computes the current detector position based on the system configuration.

\( t_{\textrm{det}}^{\textrm{nominal}}=R_{\textrm{gantry}}\left[\begin{array}{c} \mathtt{SID-SDD}\\0\\0\end{array}\right] + \left[\begin{array}{c} 0\\0\\-\mathtt{pitchPos}\end{array}\right]= \mathbf{R}_{x}(\mathtt{tilt})\cdot\mathbf{R}_{z}(\mathtt{gantryRot}) \cdot\left[\begin{array}{c} \mathtt{SID-SDD}\\0\\0\end{array}\right] + \left[\begin{array}{c} 0\\0\\-\mathtt{pitchPos}\end{array}\right] \)

◆ detectorRotationTG()

Matrix3x3 CTL::TubularGantry::detectorRotationTG ( ) const

private

Computes the current detector rotation based on the system configuration.

This is computed such that the gantry rotation angle is defined with respect to the (WCS) x-axis. Hence, for an angle of zero degrees, the detector is located on the negative x-axis.

\( R_{\textrm{det}}^{\textrm{nominal}}=\mathbf{R}_{x}(\mathtt{\pi/2}) \cdot\mathbf{R}_{z}(-\pi/2)\cdot R_{\textrm{gantry}}^{T} \)

◆ fromVariant()

void CTL::TubularGantry::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::TubularGantry::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:

Source-to-detector distance
Source-to-iso-center distance
Rotation angle
Table pitch position
Tilt angle.

Reimplemented from CTL::AbstractGantry.

◆ nominalDetectorLocation()

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

overrideprotectedvirtual

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

Overrides the base class method and computes the detector location based on the tubular gantry parametrization (i.e. source-to-detector distance etc.).

\( L_{\textrm{det}}^{\textrm{nominal}}= (t_{\textrm{det}}^{\textrm{nominal}},R_{\textrm{det}}^{\textrm{nominal}}), \)

where:

\( \begin{align*} t_{\textrm{det}}^{\textrm{nominal}} &= R_{\textrm{gantry}}\left[\begin{array}{c} \mathtt{SID-SDD}\\0\\0\end{array}\right] + \left[\begin{array}{c} 0\\0\\-\mathtt{pitchPos}\end{array}\right]= \mathbf{R}_{x}(\mathtt{tilt})\cdot\mathbf{R}_{z}(\mathtt{gantryRot}) \cdot\left[\begin{array}{c} \mathtt{SID-SDD}\\0\\0\end{array}\right] + \left[\begin{array}{c} 0\\0\\-\mathtt{pitchPos}\end{array}\right]\\ R_{\textrm{det}}^{\textrm{nominal}} & =\mathbf{R}_{x}(\mathtt{\pi/2}) \cdot\mathbf{R}_{z}(-\pi/2)\cdot R_{\textrm{gantry}}^{T} \end{align*} \)

Implements CTL::AbstractGantry.

◆ nominalSourceLocation()

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

overrideprotectedvirtual

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

Overrides the base class method and computes the source location based on the tubular gantry parametrization (i.e. source-to-detector distance etc.).

\( L_{\textrm{src}}^{\textrm{nominal}}= (t_{\textrm{src}}^{\textrm{nominal}},R_{\textrm{src}}^{\textrm{nominal}}), \)

where:

\( \begin{align*} t_{\textrm{src}}^{\textrm{nominal}} & =R_{\textrm{gantry}}\cdot\left[\begin{array}{c} \mathtt{SID}\\0\\0\end{array}\right] + \left[\begin{array}{c} 0\\0\\-\mathtt{pitchPos}\end{array}\right]= \mathbf{R}_{x}(\mathtt{tilt})\cdot\mathbf{R}_{z}(\mathtt{gantryRot}) \cdot\left[\begin{array}{c} \mathtt{SID}\\0\\0\end{array}\right] + \left[\begin{array}{c} 0\\0\\-\mathtt{pitchPos}\end{array}\right]\\ R_{\textrm{src}}^{\textrm{nominal}} & =R_{\textrm{gantry}} \cdot\mathbf{R}_{z}(\pi/2)\cdot\mathbf{R}_{x}(\mathtt{-\pi/2}) \end{align*} \)

Implements CTL::AbstractGantry.

◆ setPitchPosition()

void CTL::TubularGantry::setPitchPosition ( double position )

Sets the table pitch to position. Position value is expected in millimeters.

◆ setRotationAngle()

void CTL::TubularGantry::setRotationAngle ( double angle )

Sets the gantry rotation to angle. Rotation angle is expected in radians.

◆ setTiltAngle()

void CTL::TubularGantry::setTiltAngle ( double angle )

Sets the gantry tilt to angle. Tilt angle is expected in radians.

◆ sourceLocationTG()

mat::Location CTL::TubularGantry::sourceLocationTG ( ) const

private

Computed the current source location (i.e. position and rotation) based on the system configuration.

Same as mat::Location(sourcePositionTG(), sourceRotationTG())

◆ sourcePositionTG()

Vector3x1 CTL::TubularGantry::sourcePositionTG ( ) const

private

Computes the current source position based on the system configuration.

\( t_{\textrm{src}}^{\textrm{nominal}}=R_{\textrm{gantry}}\cdot\left[\begin{array}{c} \mathtt{SID}\\0\\0\end{array}\right] + \left[\begin{array}{c} 0\\0\\-\mathtt{pitchPos}\end{array}\right]= \mathbf{R}_{x}(\mathtt{tilt})\cdot\mathbf{R}_{z}(\mathtt{gantryRot}) \cdot\left[\begin{array}{c} \mathtt{SID}\\0\\0\end{array}\right] + \left[\begin{array}{c} 0\\0\\-\mathtt{pitchPos}\end{array}\right] \)

◆ sourceRotationTG()

Matrix3x3 CTL::TubularGantry::sourceRotationTG ( ) const

private

Computes the current source rotation based on the system configuration.

This is computed such that the gantry rotation angle is defined with respect to the (WCS) x-axis. Hence, for an angle of zero degrees, the source is located on the positive x-axis.

\( R_{\textrm{src}}^{\textrm{nominal}}=R_{\textrm{gantry}} \cdot\mathbf{R}_{z}(\pi/2)\cdot\mathbf{R}_{x}(\mathtt{-\pi/2}) \)

◆ totalGantryRotation()

Matrix3x3 CTL::TubularGantry::totalGantryRotation ( ) const

private

Computes the total rotation matrix of the gantry system. This includes gantry rotation and tilt:

\( R_{\textrm{gantry}}= \mathbf{R}_{x}(\mathtt{tilt})\cdot\mathbf{R}_{z}(\mathtt{gantryRot}) \)

◆ toVariant()

QVariant CTL::TubularGantry::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::TubularGantry::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/tubulargantry.h
modules/src/components/tubulargantry.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

◆ TubularGantry() [1/2]

◆ TubularGantry() [2/2]

Member Function Documentation

◆ clone()

◆ defaultName()

◆ detectorLocationTG()

◆ detectorPositionTG()

◆ detectorRotationTG()

◆ fromVariant()

◆ info()

◆ nominalDetectorLocation()

◆ nominalSourceLocation()

◆ setPitchPosition()

◆ setRotationAngle()

◆ setTiltAngle()

◆ sourceLocationTG()

◆ sourcePositionTG()

◆ sourceRotationTG()

◆ totalGantryRotation()

◆ toVariant()

◆ type()