Implementation of a passive NDI optical tool. More...

#include <mitkNDIPassiveTool.h>

Inheritance diagram for mitk::NDIPassiveTool:

Public Types
enum	TrackingPriority { Static = 'S' , Dynamic = 'D' , ButtonBox = 'B' }
	tracking priority for NDI tracking devices More...

Public Member Functions
	mitkClassMacro (NDIPassiveTool, TrackingTool)

virtual bool	LoadSROMFile (const char *filename)
	load a srom tool description file

virtual const unsigned char *	GetSROMData () const
	get loaded srom file as unsigned char array

virtual unsigned int	GetSROMDataLength () const
	get length of SROMData char array

	itkSetStringMacro (PortHandle)
	get port handle under which the tool is registered in the tracking device

	itkGetStringMacro (PortHandle)
	set port handle under which the tool is registered in the tracking device

	itkSetMacro (TrackingPriority, TrackingPriority)
	set tracking priority that the ndi tracking device should use

	itkGetConstMacro (TrackingPriority, TrackingPriority)
	get tracking priority that the ndi tracking device should use

	itkSetStringMacro (SerialNumber)
	set serial number of the tool

	itkGetStringMacro (SerialNumber)
	get serial number of the tool

	itkGetStringMacro (File)
	get file from which this tool was loaded

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

	itkFactorylessNewMacro (Self)

	itkCloneMacro (Self)

void	PrintSelf (std::ostream &os, itk::Indent indent) const override

virtual const char *	GetToolName () const
	every tool has a name thatgit can be used to identify it.

virtual void	SetToolName (const std::string _arg)
	Sets the name of the tool.

virtual void	SetToolName (const char *_arg)
	Sets the name of the tool.

Point3D	GetToolTipPosition () const
	returns the tool tip in tool coordinates, which where set by SetToolTip

Quaternion	GetToolAxisOrientation () const
	returns the transformation of the tool axis with respect to the MITK-IGT main tool axis (0,0,-1)

virtual void	SetToolTipPosition (Point3D toolTipPosition, Quaternion orientation, ScalarType eps=0.0)
	defines a tool tip for this tool in tool coordinates. GetPosition() and GetOrientation() return the data of the tool tip if it is defined. By default no tooltip is defined.

virtual bool	IsToolTipSet () const
	returns true if a tool tip is set, false if not

virtual void	GetPosition (Point3D &position) const
	returns the current position of the tool as an array of three floats (in the tracking device coordinate system)

virtual void	SetPosition (Point3D position)
	sets the position

virtual void	GetOrientation (Quaternion &orientation) const
	returns the current orientation of the tool as a quaternion in a mitk::Point4D (in the tracking device coordinate system)

virtual void	SetOrientation (Quaternion orientation)
	sets the orientation as a quaternion

virtual bool	Enable ()
	enables the tool, so that it will be tracked

virtual bool	Disable ()
	disables the tool, so that it will not be tracked anymore

virtual bool	IsEnabled () const
	returns whether the tool is enabled or disabled

virtual void	SetDataValid (bool isDataValid)
	sets if the tracking data (position & orientation) is valid

virtual bool	IsDataValid () const
	returns true if the current position data is valid (no error during tracking, tracking error below threshold, ...)

virtual float	GetTrackingError () const
	returns one value that corresponds to the overall tracking error.

virtual void	SetTrackingError (float error)
	sets the tracking error

virtual const char *	GetErrorMessage () const
	if the data is not valid, ErrorMessage should contain a string explaining why it is invalid (the Set-method should be implemented in subclasses, it should not be accessible by the user)

virtual void	SetErrorMessage (const char *_arg)
	sets the error message

	itkSetMacro (IGTTimeStamp, double) itkGetConstMacro(IGTTimeStamp

Protected Member Functions
	itkFactorylessNewMacro (Self)

	itkCloneMacro (Self) NDIPassiveTool()

	~NDIPassiveTool () override

Protected Member Functions inherited from mitk::TrackingTool
	TrackingTool ()
	< Gets the IGT timestamp of the tracking tool object (time in milliseconds). Returns 0 if the timestamp was not set.

	~TrackingTool () override

Protected Attributes
unsigned char *	m_SROMData
	content of the srom tool description file

unsigned int	m_SROMDataLength
	length of the srom tool description file

TrackingPriority	m_TrackingPriority
	priority for this tool

std::string	m_PortHandle
	port handle for this tool

std::string	m_SerialNumber
	serial number for this tool

std::string	m_File
	the original file from which this tool was loaded

Protected Attributes inherited from mitk::TrackingTool
std::string	m_ToolName
	every tool has a name that can be used to identify it.

std::string	m_ErrorMessage
	if a tool is invalid, this member should contain a human readable explanation of why it is invalid

double	m_IGTTimeStamp
	contains the time at which the tracking data was recorded

std::mutex	m_MyMutex
	mutex to control concurrent access to the tool

Point3D	m_Position
	holds the position of the tool in global tracking coordinates

Quaternion	m_Orientation
	holds the orientation of the tool´in global tracking coordinates

float	m_TrackingError
	holds the tracking error of the tool

bool	m_Enabled
	if true, tool is enabled and should receive tracking updates from the tracking device

bool	m_DataValid
	if true, data in m_Position and m_Orientation is valid, e.g. true tracking data

Point3D	m_ToolTipPosition
	holds the position of the tool tip in the coordinate system of the tracking sensor

Quaternion	m_ToolAxisOrientation
	holds the rotation of the sensor coordinate system such that the z-axis coincides with the main tool axis e.g. obtained by a tool calibration

bool	m_ToolTipSet

Friends
class	NDITrackingDevice

Detailed Description

Implementation of a passive NDI optical tool.

Documentation

implements the TrackingTool interface and has the ability to load an srom file that contains the marker configuration for that tool

Definition at line 31 of file mitkNDIPassiveTool.h.

Member Enumeration Documentation

◆ TrackingPriority

enum mitk::NDIPassiveTool::TrackingPriority

tracking priority for NDI tracking devices

Enumerator
Static
Dynamic
ButtonBox

Definition at line 38 of file mitkNDIPassiveTool.h.

Constructor & Destructor Documentation

◆ ~NDIPassiveTool()

mitk::NDIPassiveTool::~NDIPassiveTool ( )

overrideprotected

Definition at line 28 of file mitkNDIPassiveTool.cpp.

Member Function Documentation

◆ GetSROMData()

const unsigned char * mitk::NDIPassiveTool::GetSROMData ( ) const

virtual

get loaded srom file as unsigned char array

Definition at line 71 of file mitkNDIPassiveTool.cpp.

◆ GetSROMDataLength()

unsigned int mitk::NDIPassiveTool::GetSROMDataLength ( ) const

virtual

get length of SROMData char array

Definition at line 77 of file mitkNDIPassiveTool.cpp.

◆ itkCloneMacro()

mitk::NDIPassiveTool::itkCloneMacro ( Self )

protected

◆ itkFactorylessNewMacro()

mitk::NDIPassiveTool::itkFactorylessNewMacro ( Self )

protected

◆ itkGetConstMacro()

mitk::NDIPassiveTool::itkGetConstMacro	(	TrackingPriority	,
		TrackingPriority	)

get tracking priority that the ndi tracking device should use

◆ itkGetStringMacro() [1/3]

mitk::NDIPassiveTool::itkGetStringMacro ( File )

get file from which this tool was loaded

◆ itkGetStringMacro() [2/3]

mitk::NDIPassiveTool::itkGetStringMacro ( PortHandle )

set port handle under which the tool is registered in the tracking device

◆ itkGetStringMacro() [3/3]

mitk::NDIPassiveTool::itkGetStringMacro ( SerialNumber )

get serial number of the tool

◆ itkSetMacro()

mitk::NDIPassiveTool::itkSetMacro	(	TrackingPriority	,
		TrackingPriority	)

set tracking priority that the ndi tracking device should use

◆ itkSetStringMacro() [1/2]

mitk::NDIPassiveTool::itkSetStringMacro ( PortHandle )

get port handle under which the tool is registered in the tracking device

◆ itkSetStringMacro() [2/2]

mitk::NDIPassiveTool::itkSetStringMacro ( SerialNumber )

set serial number of the tool

◆ LoadSROMFile()

bool mitk::NDIPassiveTool::LoadSROMFile ( const char * filename )

virtual

load a srom tool description file

Definition at line 38 of file mitkNDIPassiveTool.cpp.

◆ mitkClassMacro()

mitk::NDIPassiveTool::mitkClassMacro	(	NDIPassiveTool	,
		TrackingTool	)

Friends And Related Symbol Documentation

◆ NDITrackingDevice

friend class NDITrackingDevice

friend

Definition at line 34 of file mitkNDIPassiveTool.h.

Member Data Documentation

◆ m_File

std::string mitk::NDIPassiveTool::m_File

protected

the original file from which this tool was loaded

Definition at line 71 of file mitkNDIPassiveTool.h.

◆ m_PortHandle

std::string mitk::NDIPassiveTool::m_PortHandle

protected

port handle for this tool

Definition at line 69 of file mitkNDIPassiveTool.h.

◆ m_SerialNumber

std::string mitk::NDIPassiveTool::m_SerialNumber

protected

serial number for this tool

Definition at line 70 of file mitkNDIPassiveTool.h.

◆ m_SROMData

unsigned char* mitk::NDIPassiveTool::m_SROMData

protected

content of the srom tool description file

Definition at line 66 of file mitkNDIPassiveTool.h.

◆ m_SROMDataLength

unsigned int mitk::NDIPassiveTool::m_SROMDataLength

protected

length of the srom tool description file

Definition at line 67 of file mitkNDIPassiveTool.h.

◆ m_TrackingPriority

TrackingPriority mitk::NDIPassiveTool::m_TrackingPriority

protected

priority for this tool

Definition at line 68 of file mitkNDIPassiveTool.h.

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

Modules/IGT/TrackingDevices/mitkNDIPassiveTool.h
Modules/IGT/TrackingDevices/mitkNDIPassiveTool.cpp

Public Types

Public Member Functions

Protected Member Functions

Protected Attributes

Friends

Detailed Description

Member Enumeration Documentation

◆ TrackingPriority

Constructor & Destructor Documentation

◆ ~NDIPassiveTool()

Member Function Documentation

◆ GetSROMData()

◆ GetSROMDataLength()

◆ itkCloneMacro()

◆ itkFactorylessNewMacro()

◆ itkGetConstMacro()

◆ itkGetStringMacro() [1/3]

◆ itkGetStringMacro() [2/3]

◆ itkGetStringMacro() [3/3]

◆ itkSetMacro()

◆ itkSetStringMacro() [1/2]

◆ itkSetStringMacro() [2/2]

◆ LoadSROMFile()

◆ mitkClassMacro()

Friends And Related Symbol Documentation

◆ NDITrackingDevice

Member Data Documentation

◆ m_File

◆ m_PortHandle

◆ m_SerialNumber

◆ m_SROMData

◆ m_SROMDataLength

◆ m_TrackingPriority