CISST Software Development Kit

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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