Constraints

Feature Model Constraints

• AT_LouBizzle ⋁ AT_FiveDOFsolver ⋁ AT_ExtendingSixDOF ⋁ AT_FourDOFsolver ⋁ AT_FiveDOFcheater ⋁ AT_FiveDOFcheaterVREP ⇒ IK_OutputForces ⋀ GT_HapticFeedback
• AT_SevenDOFsolver ⋁ AT_FourDOF_needle ⇒ ¬IK_OutputForces ⋀ ¬GT_HapticFeedback
• AT_SevenDOFsolver ⋁ AT_FourDOF_needle ⇒ ¬IK_OutputForces ⋀ ¬GT_HapticFeedback
• SM_KT_TwoArmCoupledShoulder ⇒ ¬NK_OutputForces ⋀ ¬GT_HapticFeedback
• SM_KT_TwoArmCoupledShoulder3DOF ⋁ SM_KT_CoupledShoulder3DOF ⋁ SM_KT_CoupledShoulderAndElbow3DOF ⋁ SM_KT_CombinedBot ⇒ NK_OutputForces ⋀ GT_HapticFeedback
• AT_TwoArmLouBot ⇒ SM_KT_TwoArmCoupledShoulder3DOF
• AT_MarkBot ⇒ SM_KT_CombinedBot
• AT_TomBot ⇒ SM_KT_TwoArmCoupledShoulder
• AT_TomShortArm ⇒ SM_KT_CoupledShoulderAndElbow3DOF
• AT_LouBot ⋁ AT_LouBotWithCamera ⇒ SM_KT_CoupledShoulder3DOF
• AT_FrankenVREP ⇒ ¬GT_HapticFeedback
• AT_SevenDOFsolver ⋁ AT_ExtendingSixDOF ⋁ AT_FourDOF_needle ⋁ AT_FourDOFsolver ⇒ SM_IK_IKSolverNormal
• AT_LouBizzle ⋁ AT_FiveD0Fsolver ⋁ AT_FiveD0Fcheater ⋁ AT_FiveD0FcheaterVREP ⇒ SM_IK_IKSolver5DOF
• Cautery_Tool ⇒ BI_CauteryFunction ⋀ ¬BI_ScaleFunction
• Scale ⇒ BI_ScaleFunction
• AT_FrankenVREP ⇒ SM_IK_FrankenBot
• NonElectric_Tool ⇒ GT_ExpandOpen ⋀ GT_ClampClose ⋀ GrasperLimits
• Cautery_Tool ⇒ ¬GT_ExpandOpen ⋀ ¬GT_ClampClose ⋀ ¬GrasperLimits
• EF_Cautery_Shears ⇒ ¬GT_WristRotate
• EF_Cautery_Tissue_Grasper ⋁ EF_Cautery_Hook ⋁ NonElectric_Tool ⇒ GT_WristRotate
• EF_Cautery_Hook ⇒ ¬GT_EffectorBend
• EF_Cautery_Tissue_Grasper ⋁ EF_Cautery_Shears ⋁ NonElectric_Tool ⇒ GT_EffectorBend
• MC_AS_Left ⇒ ¬HP_InvertXYZInput
• MC_AS_Right ⇒ HP_InvertXYZInput
• MC_AS_Left ⋀ IKSolver ⇒ ¬IK_InvertXYZInput
• MC_AS_Right ⋀ IKSolver ⇒ IK_InvertXYZInput
• ¬(BI_ScaleFunction ⋀ BI_CauteryFunction)