mitk::IGTLTrackingDataDeviceSource Class Reference

Connects a mitk::IGTLDevice to a MITK-OpenIGTLink-Message-Filter-Pipeline. More...

#include <mitkIGTLTrackingDataDeviceSource.h>

Inheritance diagram for mitk::IGTLTrackingDataDeviceSource:

Public Types
enum	TrackingMessageType { TDATA , TRANSFORM , QTDATA , UNKNOWN }

Public Member Functions
	mitkClassMacro (IGTLTrackingDataDeviceSource, IGTLDeviceSource)
	itkFactorylessNewMacro (Self)
	itkCloneMacro (Self)
	itkSetMacro (trackingDataType, TrackingMessageType)
	itkGetConstMacro (trackingDataType, TrackingMessageType)
Public Member Functions inherited from mitk::IGTLDeviceSource
	mitkClassMacro (IGTLDeviceSource, IGTLMessageSource)
	itkFactorylessNewMacro (Self)
	itkCloneMacro (Self)
virtual void	SetIGTLDevice (mitk::IGTLDevice *td)
	sets the OpenIGTLink device that will be used as a data source
	itkGetObjectMacro (IGTLDevice, mitk::IGTLDevice)
	returns the OpenIGTLink device that is used by this filter
void	RegisterAsMicroservice () override
	Registers this object as a Microservice, making it available to every module and/or plugin. To unregister, call UnregisterMicroservice().
void	Connect ()
	Establishes a connection to the OpenIGTLink device. If there is already a connection the method does nothing.
void	Disconnect ()
	Closes the connection to the OpenIGTLink device.
void	StartCommunication ()
	starts the communication of the device. This needs to be called before Update() or GetOutput()->Update(). If the device is already communicating the method does nothing.
void	StopCommunication ()
	stops the communication of the device.
virtual bool	IsConnected ()
	returns true if a connection to the OpenIGTLink device is established
virtual bool	IsCommunicating ()
	returns true if communication is in progress
void	UpdateOutputInformation () override
	Used for pipeline update.
Public Member Functions inherited from mitk::IGTLMessageSource
	mitkClassMacroItkParent (IGTLMessageSource, itk::ProcessObject)
	itkGetMacro (Name, std::string)
	itkSetMacro (Name, std::string)
	Sets the human readable name of this source. There is also a default name, but you can use this method if you need to define it on your own.
	itkGetMacro (Type, std::string)
	itkSetMacro (Type, std::string)
	Sets the human readable type of this source. There will be a default type, or you can set the name with the method SetType(). You have to set this parameter otherwise it will not be found by the message provider.
IGTLMessage *	GetOutput (void)
	return the output (output with id 0) of the filter
IGTLMessage *	GetOutput (DataObjectPointerArraySizeType idx)
	return the output with id idx of the filter
IGTLMessage *	GetOutput (const std::string &messageName)
	return the output with name messageName of the filter
DataObjectPointerArraySizeType	GetOutputIndex (std::string messageName)
	return the index of the output with name messageName, -1 if no output with that name was found
virtual void	UnRegisterMicroservice ()
	Registers this object as a Microservice, making it available to every module and/or plugin.
std::string	GetMicroserviceID ()
	Returns the id that this device is registered with. The id will only be valid, if the IGTLMessageSource has been registered using RegisterAsMicroservice().
virtual void	GraftNthOutput (unsigned int idx, itk::DataObject *graft)
	Graft the specified DataObject onto this ProcessObject's output.
virtual void	GraftOutput (itk::DataObject *graft)
	Graft the specified DataObject onto this ProcessObject's output.
itk::DataObject::Pointer	MakeOutput (DataObjectPointerArraySizeType idx) override
itk::DataObject::Pointer	MakeOutput (const DataObjectIdentifierType &name) override
virtual void	SetParameters (const mitk::PropertyList *)
	Set all filter parameters as the PropertyList p.
virtual mitk::PropertyList::ConstPointer	GetParameters () const
	Get all filter parameters as a PropertyList.
void	SetFPS (unsigned int fps)
	Sets the fps used for streaming this source.
unsigned int	GetFPS ()
	Gets the fps used for streaming this source.

Protected Member Functions
	IGTLTrackingDataDeviceSource ()
	~IGTLTrackingDataDeviceSource () override
void	GenerateData () override
	filter execute method
Protected Member Functions inherited from mitk::IGTLDeviceSource
	IGTLDeviceSource ()
	~IGTLDeviceSource () override
void	GenerateData () override
	filter execute method
void	CreateOutputs ()
	Create the necessary outputs for the m_IGTLDevice.
virtual void	OnIncomingMessage ()
	This method is called when the IGTL device hold by this class receives a new message.
virtual void	OnIncomingCommand ()
	This method is called when the IGTL device hold by this class receives a new command.
virtual void	OnLostConnection ()
	This method is called when the IGTL device lost the connection to the other side.
virtual void	RemoveObservers ()
	Removes all observers that listen to the igtl device.
virtual void	SetInput (unsigned int idx, const IGTLMessage *msg)
	Set input with id idx of this filter.
const IGTLMessage *	GetInput (void) const
	Get the input of this filter.
const IGTLMessage *	GetInput (unsigned int idx) const
	Get the input with id idx of this filter.
const IGTLMessage *	GetInput (std::string msgName) const
	Get the input with name messageName of this filter.
DataObjectPointerArraySizeType	GetInputIndex (std::string msgName)
	return the index of the input with name msgName, throw std::invalid_argument exception if that name was not found
DataObjectPointerArraySizeType	GetOutputIndex (std::string msgName)
	return the index of the output with name msgName, -1 if no output with that name was found
Protected Member Functions inherited from mitk::IGTLMessageSource
	IGTLMessageSource ()
	~IGTLMessageSource () override

Protected Attributes
TrackingMessageType	m_trackingDataType
Protected Attributes inherited from mitk::IGTLDeviceSource
mitk::IGTLDevice::Pointer	m_IGTLDevice
unsigned int	m_LostConnectionObserverTag
unsigned int	m_IncomingCommandObserverTag
unsigned int	m_IncomingMessageObserverTag
Protected Attributes inherited from mitk::IGTLMessageSource
std::string	m_Name
std::string	m_Type
std::mutex	m_StreamingFPSMutex
unsigned int	m_StreamingFPS
us::ServiceRegistration< Self >	m_ServiceRegistration

Additional Inherited Members
Static Public Attributes inherited from mitk::IGTLDeviceSource
static const std::string	US_PROPKEY_IGTLDEVICENAME
	These Constants are used in conjunction with Microservices.
Static Public Attributes inherited from mitk::IGTLMessageSource
static const std::string	US_INTERFACE_NAME
	These Constants are used in conjunction with Microservices.
static const std::string	US_PROPKEY_DEVICENAME
static const std::string	US_PROPKEY_DEVICETYPE
static const std::string	US_PROPKEY_ID
static const std::string	US_PROPKEY_ISACTIVE

Detailed Description

Connects a mitk::IGTLDevice to a MITK-OpenIGTLink-Message-Filter-Pipeline.

This class is the source of most OpenIGTLink tracking data pipelines. Deriving from IGTLDeviceSource it encapsulates a mitk::IGTLDevice and provides the tracking data messages of the connected OpenIGTLink devices as igtl::MessageBase objects. This means it filters for TDATA, QTDATA and TRANSFORM messages. It can be configured to listen to one of these message types or to all of them.

Note, that there is just one single output.

Definition at line 33 of file mitkIGTLTrackingDataDeviceSource.h.

Member Enumeration Documentation

TrackingMessageType

enum mitk::IGTLTrackingDataDeviceSource::TrackingMessageType

OpenIGTLink tracking data message types

Enumerator
TDATA
TRANSFORM
QTDATA
UNKNOWN

Definition at line 37 of file mitkIGTLTrackingDataDeviceSource.h.

Constructor & Destructor Documentation

IGTLTrackingDataDeviceSource()

mitk::IGTLTrackingDataDeviceSource::IGTLTrackingDataDeviceSource ( )

protected

Definition at line 26 of file mitkIGTLTrackingDataDeviceSource.cpp.

~IGTLTrackingDataDeviceSource()

mitk::IGTLTrackingDataDeviceSource::~IGTLTrackingDataDeviceSource ( )

overrideprotected

Definition at line 32 of file mitkIGTLTrackingDataDeviceSource.cpp.

Member Function Documentation

GenerateData()

void mitk::IGTLTrackingDataDeviceSource::GenerateData ( )

overrideprotected

filter execute method

queries the OpenIGTLink device for new messages and updates its output igtl::MessageBase objects with it.

Warning

Will raise a std::out_of_range exception, if tools were added to the OpenIGTLink device after it was set as input for this filter

Definition at line 36 of file mitkIGTLTrackingDataDeviceSource.cpp.

itkCloneMacro()

mitk::IGTLTrackingDataDeviceSource::itkCloneMacro

(

Self

)

itkFactorylessNewMacro()

mitk::IGTLTrackingDataDeviceSource::itkFactorylessNewMacro

(

Self

)

itkGetConstMacro()

mitk::IGTLTrackingDataDeviceSource::itkGetConstMacro	(	trackingDataType	,
		TrackingMessageType	)

itkSetMacro()

mitk::IGTLTrackingDataDeviceSource::itkSetMacro	(	trackingDataType	,
		TrackingMessageType	)

Sets the tracking data type the source should listen to. If it is set to unknown (default) it listens to all tracking data message types.

mitkClassMacro()

mitk::IGTLTrackingDataDeviceSource::mitkClassMacro	(	IGTLTrackingDataDeviceSource	,
		IGTLDeviceSource	)

Member Data Documentation

m_trackingDataType

TrackingMessageType mitk::IGTLTrackingDataDeviceSource::m_trackingDataType

protected

Definition at line 53 of file mitkIGTLTrackingDataDeviceSource.h.

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

• Modules/OpenIGTLink/DeviceSources/mitkIGTLTrackingDataDeviceSource.h
• Modules/OpenIGTLink/DeviceSources/mitkIGTLTrackingDataDeviceSource.cpp