CISST Software Development Kit & Methodology

1. TEST RESULTS TEST APPLICATIONS LIBRARY BINARIES Robot & Tracker Applications DOCUMENTATION (Compiled LaTeX Document) CISST Software Development Kit& Methodology • THE SOLUTION • Rearchitecting CIS library to improve maintainability, portability and usability. • Library architecture safeguarded by CMake, CVS • New modules for: • Operating system abstraction • Unit testing framework based on CPPUNIT • Use SWIG to automate wrapping of C++ code for interpreted languages (Python, TCL). • Online debugging and command-line interaction (see IRE) • Redesign in testing for: • Common data structures and tools • Fixed size vectors • Other CIS modules (numerical methods, …) pending. • THE PROBLEM • Many software components can be common to diverse CISST applications, but they must be: • Portable (compilers and operating systems). • Modular, so that dependencies are minimized. • Well documented. • Easily tested (e.g., for regression testing). • Researchers use C++ (sometimes Java), which do not provide interactive development/scripting. • Existing CIS library has been invaluable, but does not adequately address these needs. • THE IMPACT • Modular design of CISST permits rapid object-orientated, “parts-assembly” style development • Regular test builds ensure robustness • SWIG wrapping enables rapid prototyping and creation of interactive environments (see IRE) • Innovative design of cisstVector based on template meta-programming provides: • Efficiency • Scalability (different vector sizes) • Different data types • Stride Some other picture here. Maybe something for cisstVector? • PEOPLE INVOLVED • Graduate Students: Ankur Kapoor, Andy LaMora, Ofri Sadowsky, Anand Viswanathan • Engineering Faculty: Peter Kazanzides, Russell Taylor • Staff: Anton Deguet, Csaba Csoma • THE FUTURE • Finish redesign of CIS library • Submit publication describing cisstVector design • Deploy software under open source license • SUPPORTED BY: • Core NSF CISST/ERC • PUBLICATIONS • There are publications that I will add later… Engineering Research Center for Computer Integrated Surgical Systems and Technology