superclass for specific MIRCOBIRD tracking Devices More...

#include <mitkMicroBirdTrackingDevice.h>

Inheritance diagram for mitk::MicroBirdTrackingDevice:

Public Member Functions
	mitkClassMacro (MicroBirdTrackingDevice, TrackingDevice)

	itkFactorylessNewMacro (Self)

	itkCloneMacro (Self)

	itkSetMacro (Type, TrackingDeviceType)
	Set the type of the microBird Tracking Device because it can not yet handle this itself.

virtual bool	OpenConnection ()
	Builds up the connection (loads tools, initializes and enables them)

virtual bool	CloseConnection ()
	Closes the connection.

virtual bool	StartTracking ()
	Start the tracking.

virtual bool	StopTracking ()
	here we use the superclass method.

virtual TrackingTool *	GetTool (unsigned int toolNumber)
	returns a tracking tool that contains positional information about one of the sensors

virtual unsigned int	GetToolCount () const
	returns a the number of attached sensors

	itkGetStringMacro (ErrorMessage)
	returns description of most recent error.

Public Member Functions inherited from mitk::TrackingDevice
	mitkClassMacroItkParent (TrackingDevice, itk::Object)

virtual TrackingTool *	GetTool (unsigned int toolNumber) const =0
	Return tool with index toolNumber.

virtual mitk::TrackingTool *	GetToolByName (std::string name) const
	Returns the tool with the given tool name.

virtual void	SetRotationMode (RotationMode r)

	itkGetConstMacro (RotationMode, RotationMode)

TrackingDeviceState	GetState () const
	return current object state (Setup, Ready or Tracking)

TrackingDeviceType	GetType () const
	Deprecated! Use the more specific getData or GetTrackingDeviceName instead. return device type identifier.

void	SetType (TrackingDeviceType type)
	Deprecated! Use the more specific setDeviceData instead. set device type.

std::string	GetTrackingDeviceName ()
	Convenient Method to get the Name of the Tracking Device. This is identical with GetData().Line and can be used to compare with TrackingDeviceTypeInformation::GetTrackingDeviceName() to check if you have a specific device.

TrackingDeviceData	GetData () const
	return device data

void	SetData (TrackingDeviceData data)
	set device type

virtual bool	IsDeviceInstalled ()

virtual bool	AutoDetectToolsAvailable ()

virtual bool	AddSingleToolIsAvailable ()

virtual mitk::NavigationToolStorage::Pointer	AutoDetectTools ()

Protected Types
typedef TrackingTool	ToolType

typedef std::vector< ToolType::Pointer >	ToolContainerType

Protected Member Functions
void	HandleError (int errorCode)

bool	CompareError (int errorCode, int errorConstant)

	MicroBirdTrackingDevice ()

virtual	~MicroBirdTrackingDevice ()

ToolType *	GetMicroBirdTool (unsigned int toolNumber)
	returns a tracking tool that contains positional information about one of the sensors

virtual void	InvalidateAll ()
	invalidates all tools (on stoptracking, closeconnection)

bool	SwitchTransmitter (bool switchOn)
	Switches the transmitter on resp. off.

virtual void	TrackTools ()
	tracks the position and orientation of all tools until StopTracking() is called.

	itkSetStringMacro (ErrorMessage)

Protected Member Functions inherited from mitk::TrackingDevice
void	SetState (TrackingDeviceState state)
	change object state

	TrackingDevice ()

	~TrackingDevice () override

Static Protected Member Functions
static ITK_THREAD_RETURN_TYPE	ThreadStartTracking (void *data)
	Helper function, because the itk::MultiThreader can only start a new thread with a static member function.

Protected Attributes
itk::FastMutexLock::Pointer	m_ToolsMutex

ToolContainerType	m_Tools

std::string	m_ErrorMessage

itk::MultiThreader::Pointer	m_MultiThreader

int	m_ThreadID

DOUBLE_POSITION_QUATERNION_TIME_Q_RECORD	record

DOUBLE_POSITION_QUATERNION_TIME_Q_RECORD *	pRecord
	One tracking data record (quaternion orientation format)

SYSTEM_CONFIGURATION	m_SystemConfig
	The system configuration - used to specify its use.

SENSOR_CONFIGURATION *	m_SensorConfig
	The sensor configuration - used to get and set the sensor properties.

TRANSMITTER_CONFIGURATION *	m_TransmitterConfig
	The transmitter configuration - used to get and set the transmitter properties.

BOOL	m_metric
	Specifies whether metric measurement is used.

double	m_measurementRate
	Specifies the measurement rate - default set to maximum.

double	m_pl
	Specifies the power line frequency (Europe 50Hz, USA 60Hz)

bool	m_agcModeBoth
	AGC (automatic gain control) mode flag.

AGC_MODE_TYPE	m_agc

Protected Attributes inherited from mitk::TrackingDevice
TrackingDeviceData	m_Data
	current device Data

bool	m_StopTracking
	signal stop to tracking thread

std::mutex	m_StopTrackingMutex
	mutex to control access to m_StopTracking

std::mutex	m_TrackingFinishedMutex
	mutex to manage control flow of StopTracking()

std::mutex	m_StateMutex
	mutex to control access to m_State

RotationMode	m_RotationMode
	defines the rotation mode Standard or Transposed, Standard is default

Additional Inherited Members
Public Types inherited from mitk::TrackingDevice
enum	RotationMode { RotationStandard , RotationTransposed }

enum	TrackingDeviceState { Setup , Ready , Tracking }

Detailed Description

superclass for specific MIRCOBIRD tracking Devices

Documentation

This class connects to a Ascension Microbird tracking device. You can not add tools manually. All connected tools are discovered during OpenConnection() and added automatically. Retrieve them with GetTool(unsigned int toolNumber) and GetToolCount() after a call to OpenConnection().

Definition at line 40 of file mitkMicroBirdTrackingDevice.h.

Member Typedef Documentation

◆ ToolContainerType

std::vector<ToolType::Pointer> mitk::MicroBirdTrackingDevice::ToolContainerType

protected

Definition at line 94 of file mitkMicroBirdTrackingDevice.h.

◆ ToolType

TrackingTool mitk::MicroBirdTrackingDevice::ToolType

protected

Definition at line 93 of file mitkMicroBirdTrackingDevice.h.

Constructor & Destructor Documentation

◆ MicroBirdTrackingDevice()

mitk::MicroBirdTrackingDevice::MicroBirdTrackingDevice ( )

protected

Definition at line 20 of file mitkMicroBirdTrackingDevice.cpp.

◆ ~MicroBirdTrackingDevice()

mitk::MicroBirdTrackingDevice::~MicroBirdTrackingDevice ( )

protectedvirtual

Definition at line 50 of file mitkMicroBirdTrackingDevice.cpp.

Member Function Documentation

◆ CloseConnection()

bool mitk::MicroBirdTrackingDevice::CloseConnection ( )

virtual

Closes the connection.

Documentation

Implements mitk::TrackingDevice.

Definition at line 252 of file mitkMicroBirdTrackingDevice.cpp.

◆ CompareError()

bool mitk::MicroBirdTrackingDevice::CompareError	(	int	errorCode,
		int	errorConstant )

protected

Definition at line 447 of file mitkMicroBirdTrackingDevice.cpp.

◆ GetMicroBirdTool()

mitk::MicroBirdTrackingDevice::ToolType * mitk::MicroBirdTrackingDevice::GetMicroBirdTool ( unsigned int toolNumber )

protected

returns a tracking tool that contains positional information about one of the sensors

Documentation

Definition at line 427 of file mitkMicroBirdTrackingDevice.cpp.

◆ GetTool()

mitk::ToolType * mitk::MicroBirdTrackingDevice::GetTool ( unsigned int toolNumber )

virtual

returns a tracking tool that contains positional information about one of the sensors

Documentation

Definition at line 421 of file mitkMicroBirdTrackingDevice.cpp.

◆ GetToolCount()

unsigned int mitk::MicroBirdTrackingDevice::GetToolCount ( ) const

virtual

returns a the number of attached sensors

Documentation

Implements mitk::TrackingDevice.

Definition at line 440 of file mitkMicroBirdTrackingDevice.cpp.

◆ HandleError()

void mitk::MicroBirdTrackingDevice::HandleError ( int errorCode )

protected

Todo: : set error message, does it work?

Definition at line 453 of file mitkMicroBirdTrackingDevice.cpp.

◆ InvalidateAll()

void mitk::MicroBirdTrackingDevice::InvalidateAll ( )

protectedvirtual

invalidates all tools (on stoptracking, closeconnection)

Definition at line 470 of file mitkMicroBirdTrackingDevice.cpp.

◆ itkCloneMacro()

mitk::MicroBirdTrackingDevice::itkCloneMacro ( Self )

◆ itkFactorylessNewMacro()

mitk::MicroBirdTrackingDevice::itkFactorylessNewMacro ( Self )

◆ itkGetStringMacro()

mitk::MicroBirdTrackingDevice::itkGetStringMacro ( ErrorMessage )

returns description of most recent error.

Documentation

◆ itkSetMacro()

mitk::MicroBirdTrackingDevice::itkSetMacro	(	Type	,
		TrackingDeviceType	)

Set the type of the microBird Tracking Device because it can not yet handle this itself.

Documentation

◆ itkSetStringMacro()

mitk::MicroBirdTrackingDevice::itkSetStringMacro ( ErrorMessage )

protected

◆ mitkClassMacro()

mitk::MicroBirdTrackingDevice::mitkClassMacro	(	MicroBirdTrackingDevice	,
		TrackingDevice	)

◆ OpenConnection()

bool mitk::MicroBirdTrackingDevice::OpenConnection ( )

virtual

Builds up the connection (loads tools, initializes and enables them)

Documentation

Todo: : check for transmitter serial numbers here?

Implements mitk::TrackingDevice.

Definition at line 71 of file mitkMicroBirdTrackingDevice.cpp.

◆ StartTracking()

bool mitk::MicroBirdTrackingDevice::StartTracking ( )

virtual

Start the tracking.

Documentation

A new thread is created, which reads the position and orientation information of each tool and stores them inside the tools.

Implements mitk::TrackingDevice.

Definition at line 308 of file mitkMicroBirdTrackingDevice.cpp.

◆ StopTracking()

bool mitk::MicroBirdTrackingDevice::StopTracking ( )

virtual

here we use the superclass method.

Documentation

Reimplemented from mitk::TrackingDevice.

Definition at line 298 of file mitkMicroBirdTrackingDevice.cpp.

◆ SwitchTransmitter()

bool mitk::MicroBirdTrackingDevice::SwitchTransmitter ( bool switchOn )

protected

Switches the transmitter on resp. off.

Definition at line 211 of file mitkMicroBirdTrackingDevice.cpp.

◆ ThreadStartTracking()

ITK_THREAD_RETURN_TYPE mitk::MicroBirdTrackingDevice::ThreadStartTracking ( void * data )

staticprotected

Helper function, because the itk::MultiThreader can only start a new thread with a static member function.

Definition at line 283 of file mitkMicroBirdTrackingDevice.cpp.

◆ TrackTools()

void mitk::MicroBirdTrackingDevice::TrackTools ( )

protectedvirtual

tracks the position and orientation of all tools until StopTracking() is called.

Documentation

This function should only be executed by a new thread (through StartTracking() and ThreadStartTracking())

Get tool (current sensor)

Todo: : is there any synchronisation?

Definition at line 330 of file mitkMicroBirdTrackingDevice.cpp.

Member Data Documentation

◆ m_agc

AGC_MODE_TYPE mitk::MicroBirdTrackingDevice::m_agc

protected

Definition at line 134 of file mitkMicroBirdTrackingDevice.h.

◆ m_agcModeBoth

bool mitk::MicroBirdTrackingDevice::m_agcModeBoth

protected

AGC (automatic gain control) mode flag.

Definition at line 133 of file mitkMicroBirdTrackingDevice.h.

◆ m_ErrorMessage

std::string mitk::MicroBirdTrackingDevice::m_ErrorMessage

protected

Definition at line 120 of file mitkMicroBirdTrackingDevice.h.

◆ m_measurementRate

double mitk::MicroBirdTrackingDevice::m_measurementRate

protected

Specifies the measurement rate - default set to maximum.

Definition at line 131 of file mitkMicroBirdTrackingDevice.h.

◆ m_metric

BOOL mitk::MicroBirdTrackingDevice::m_metric

protected

Specifies whether metric measurement is used.

Definition at line 130 of file mitkMicroBirdTrackingDevice.h.

◆ m_MultiThreader

itk::MultiThreader::Pointer mitk::MicroBirdTrackingDevice::m_MultiThreader

protected

Definition at line 122 of file mitkMicroBirdTrackingDevice.h.

◆ m_pl

double mitk::MicroBirdTrackingDevice::m_pl

protected

Specifies the power line frequency (Europe 50Hz, USA 60Hz)

Definition at line 132 of file mitkMicroBirdTrackingDevice.h.

◆ m_SensorConfig

SENSOR_CONFIGURATION* mitk::MicroBirdTrackingDevice::m_SensorConfig

protected

The sensor configuration - used to get and set the sensor properties.

Definition at line 128 of file mitkMicroBirdTrackingDevice.h.

◆ m_SystemConfig

SYSTEM_CONFIGURATION mitk::MicroBirdTrackingDevice::m_SystemConfig

protected

The system configuration - used to specify its use.

Definition at line 127 of file mitkMicroBirdTrackingDevice.h.

◆ m_ThreadID

int mitk::MicroBirdTrackingDevice::m_ThreadID

protected

Definition at line 123 of file mitkMicroBirdTrackingDevice.h.

◆ m_Tools

ToolContainerType mitk::MicroBirdTrackingDevice::m_Tools

protected

Definition at line 118 of file mitkMicroBirdTrackingDevice.h.

◆ m_ToolsMutex

itk::FastMutexLock::Pointer mitk::MicroBirdTrackingDevice::m_ToolsMutex

protected

Definition at line 117 of file mitkMicroBirdTrackingDevice.h.

◆ m_TransmitterConfig

TRANSMITTER_CONFIGURATION* mitk::MicroBirdTrackingDevice::m_TransmitterConfig

protected

The transmitter configuration - used to get and set the transmitter properties.

Definition at line 129 of file mitkMicroBirdTrackingDevice.h.

◆ pRecord

DOUBLE_POSITION_QUATERNION_TIME_Q_RECORD * mitk::MicroBirdTrackingDevice::pRecord

protected

One tracking data record (quaternion orientation format)

Definition at line 126 of file mitkMicroBirdTrackingDevice.h.

◆ record

DOUBLE_POSITION_QUATERNION_TIME_Q_RECORD mitk::MicroBirdTrackingDevice::record

protected

Definition at line 126 of file mitkMicroBirdTrackingDevice.h.

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

Modules/IGT/TrackingDevices/mitkMicroBirdTrackingDevice.h
Modules/IGT/TrackingDevices/mitkMicroBirdTrackingDevice.cpp

Public Member Functions

Protected Types

Protected Member Functions

Static Protected Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Member Typedef Documentation

◆ ToolContainerType

◆ ToolType

Constructor & Destructor Documentation

◆ MicroBirdTrackingDevice()

◆ ~MicroBirdTrackingDevice()

Member Function Documentation

◆ CloseConnection()

◆ CompareError()

◆ GetMicroBirdTool()

◆ GetTool()

◆ GetToolCount()

◆ HandleError()

◆ InvalidateAll()

◆ itkCloneMacro()

◆ itkFactorylessNewMacro()

◆ itkGetStringMacro()

◆ itkSetMacro()

◆ itkSetStringMacro()

◆ mitkClassMacro()

◆ OpenConnection()

◆ StartTracking()

◆ StopTracking()

◆ SwitchTransmitter()

◆ ThreadStartTracking()

◆ TrackTools()

Member Data Documentation

◆ m_agc

◆ m_agcModeBoth

◆ m_ErrorMessage

◆ m_measurementRate

◆ m_metric

◆ m_MultiThreader

◆ m_pl

◆ m_SensorConfig

◆ m_SystemConfig

◆ m_ThreadID

◆ m_Tools

◆ m_ToolsMutex

◆ m_TransmitterConfig

◆ pRecord

◆ record