An object of this class represents the MicronTracker device. You can add tools to this device, then open the connection and start tracking. The tracking device will then continuously update the tool coordinates. More...

#include <mitkOpenIGTLinkTrackingDevice.h>

Inheritance diagram for mitk::OpenIGTLinkTrackingDevice:

Public Member Functions
	mitkClassMacro (OpenIGTLinkTrackingDevice, TrackingDevice)

	itkFactorylessNewMacro (Self)

	itkCloneMacro (Self)

void	SetPortNumber (int portNumber)

void	SetHostname (std::string hostname)

int	GetPortNumber ()

std::string	GetHostname ()

bool	StartTracking () override
	Starts the tracking.

bool	StopTracking () override
	Stops the tracking.

bool	OpenConnection () override
	Opens the connection to the device. This have to be done before the tracking is started.

bool	CloseConnection () override
	Closes the connection and clears all resources.

unsigned int	GetToolCount () const override

TrackingTool *	GetTool (unsigned int toolNumber) const override

bool	DiscoverTools (int WaitingTime=10000)
	Discover the tools available from the connected OpenIGTLink device and adds these tools to this tracking device. Therefore, a connection is opened, the tools are discovered and added.

mitk::TrackingTool *	AddTool (const char toolName, const char fileName)
	Create a new OpenIGTLink tool with toolName and fileName and add it to the list of tools.

bool	AutoDetectToolsAvailable () override

mitk::NavigationToolStorage::Pointer	AutoDetectTools () override

bool	IsDeviceInstalled () override

	itkSetMacro (UpdateRate, int)
	Sets the update rate of the device in fps. Default value is 60 fps.

	itkGetConstMacro (UpdateRate, int)
	Returns the update rate of the device in fps.

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

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	AddSingleToolIsAvailable ()

Protected Member Functions
	OpenIGTLinkTrackingDevice ()

	~OpenIGTLinkTrackingDevice () override

bool	InternalAddTool (OpenIGTLinkTrackingTool::Pointer tool)
	Adds a tool to the tracking device.

void	UpdateTools ()

mitk::IGTLMessage::Pointer	ReceiveMessage (int waitingTime)

std::vector< OpenIGTLinkTrackingTool::Pointer >	GetAllTools ()

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

	TrackingDevice ()

	~TrackingDevice () override

Protected Attributes
unsigned long	m_MessageReceivedObserverTag

mitk::IGTLClient::Pointer	m_OpenIGTLinkClient

mitk::IGTLTrackingDataDeviceSource::Pointer	m_IGTLDeviceSource

mitk::IGTLMessageToNavigationDataFilter::Pointer	m_IGTLMsgToNavDataFilter

std::vector< OpenIGTLinkTrackingTool::Pointer >	m_AllTools
	vector holding all tools

int	m_UpdateRate
	holds the update rate in FPS (will be set automatically when the OpenIGTLink connection is established)

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

An object of this class represents the MicronTracker device. You can add tools to this device, then open the connection and start tracking. The tracking device will then continuously update the tool coordinates.

Documentation:

Definition at line 35 of file mitkOpenIGTLinkTrackingDevice.h.

Constructor & Destructor Documentation

◆ OpenIGTLinkTrackingDevice()

mitk::OpenIGTLinkTrackingDevice::OpenIGTLinkTrackingDevice ( )

protected

Definition at line 29 of file mitkOpenIGTLinkTrackingDevice.cpp.

◆ ~OpenIGTLinkTrackingDevice()

mitk::OpenIGTLinkTrackingDevice::~OpenIGTLinkTrackingDevice ( )

overrideprotected

Definition at line 42 of file mitkOpenIGTLinkTrackingDevice.cpp.

Member Function Documentation

◆ AddTool()

mitk::TrackingTool * mitk::OpenIGTLinkTrackingDevice::AddTool	(	const char *	toolName,
		const char *	fileName )

Create a new OpenIGTLink tool with toolName and fileName and add it to the list of tools.

Note that tools are usually provided by the OpenIGTLink connection. In most cases, the method DiscoverTools() should be used instead which automatically finds the provided tools. If you use this method to manually add tools be sure that you add the same number and type of tools that are provided by the connected device. Otherwise problems might occur when you try to start tracking.

Definition at line 210 of file mitkOpenIGTLinkTrackingDevice.cpp.

◆ AutoDetectTools()

mitk::NavigationToolStorage::Pointer mitk::OpenIGTLinkTrackingDevice::AutoDetectTools ( )

overridevirtual

Autodetects tools from the current OpenIGTLink connection and returns them as a navigation tool storage.

Returns: Returns the detected tools. Returns an empty storage if no tools are present or if OpenIGTLink Connection is not possible

Reimplemented from mitk::TrackingDevice.

Definition at line 56 of file mitkOpenIGTLinkTrackingDevice.cpp.

◆ AutoDetectToolsAvailable()

bool mitk::OpenIGTLinkTrackingDevice::AutoDetectToolsAvailable ( )

overridevirtual

Returns: Returns true if this device can autodetects its tools.

Reimplemented from mitk::TrackingDevice.

Definition at line 51 of file mitkOpenIGTLinkTrackingDevice.cpp.

◆ CloseConnection()

bool mitk::OpenIGTLinkTrackingDevice::CloseConnection ( )

overridevirtual

Closes the connection and clears all resources.

Implements mitk::TrackingDevice.

Definition at line 454 of file mitkOpenIGTLinkTrackingDevice.cpp.

◆ DiscoverTools()

bool mitk::OpenIGTLinkTrackingDevice::DiscoverTools ( int WaitingTime = 10000 )

Discover the tools available from the connected OpenIGTLink device and adds these tools to this tracking device. Therefore, a connection is opened, the tools are discovered and added.

Parameters

WaitingTime Defines how long the method waits for an answer from the server (in milliseconds). Default value is 10000 (10 seconds).

Returns: Returns true if the connection was established and the tools were discovered successfully and - if at least one tool was found - were added to this device. Retruns false if no valid connection is available.

Definition at line 225 of file mitkOpenIGTLinkTrackingDevice.cpp.

◆ GetAllTools()

std::vector< mitk::OpenIGTLinkTrackingTool::Pointer > mitk::OpenIGTLinkTrackingDevice::GetAllTools ( )

protected

Returns: Returns all tools of the tracking device.

Definition at line 478 of file mitkOpenIGTLinkTrackingDevice.cpp.

◆ GetHostname()

std::string mitk::OpenIGTLinkTrackingDevice::GetHostname ( )

Definition at line 190 of file mitkOpenIGTLinkTrackingDevice.cpp.

◆ GetPortNumber()

int mitk::OpenIGTLinkTrackingDevice::GetPortNumber ( )

Definition at line 46 of file mitkOpenIGTLinkTrackingDevice.cpp.

◆ GetTool()

mitk::TrackingTool * mitk::OpenIGTLinkTrackingDevice::GetTool ( unsigned int toolNumber ) const

overridevirtual

Parameters

toolNumber The number of the tool which should be given back.

Returns: Returns the tool which the number "toolNumber". Returns nullptr, if there is no tool with this number.

Implements mitk::TrackingDevice.

Definition at line 424 of file mitkOpenIGTLinkTrackingDevice.cpp.

◆ GetToolCount()

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

overridevirtual

Returns: Returns the number of tools which have been added to the device.

Implements mitk::TrackingDevice.

Definition at line 419 of file mitkOpenIGTLinkTrackingDevice.cpp.

◆ InternalAddTool()

bool mitk::OpenIGTLinkTrackingDevice::InternalAddTool ( OpenIGTLinkTrackingTool::Pointer tool )

protected

Adds a tool to the tracking device.

Parameters

tool	The tool which will be added.

Returns: Returns true if the tool has been added, false otherwise.

Definition at line 219 of file mitkOpenIGTLinkTrackingDevice.cpp.

◆ IsDeviceInstalled()

bool mitk::OpenIGTLinkTrackingDevice::IsDeviceInstalled ( )

overridevirtual

Returns: Returns true if the device is installed on this system an can be used. Installed means activated in MITK, in some cases this means the MITK installation / build has to know the installation path of the device libraries on this system. This path is usually given as cmake variable during the build configuration in devellopers mode. If the device should be available for end users with an installer the libraries can be included into the installer or the installer has to be adapted such that it asks for the path. Returns fals if the device is not installed. It cannot be used on this build in this case.

Note that some tracking systems communicate via a standard interface (e.g., serial port) and don't need any library or installation. These devices are always "installed".

Reimplemented from mitk::TrackingDevice.

Definition at line 205 of file mitkOpenIGTLinkTrackingDevice.cpp.

◆ itkCloneMacro()

mitk::OpenIGTLinkTrackingDevice::itkCloneMacro ( Self )

◆ itkFactorylessNewMacro()

mitk::OpenIGTLinkTrackingDevice::itkFactorylessNewMacro ( Self )

◆ itkGetConstMacro()

mitk::OpenIGTLinkTrackingDevice::itkGetConstMacro	(	UpdateRate	,
		int	)

Returns the update rate of the device in fps.

◆ itkSetMacro()

mitk::OpenIGTLinkTrackingDevice::itkSetMacro	(	UpdateRate	,
		int	)

Sets the update rate of the device in fps. Default value is 60 fps.

◆ mitkClassMacro()

mitk::OpenIGTLinkTrackingDevice::mitkClassMacro	(	OpenIGTLinkTrackingDevice	,
		TrackingDevice	)

◆ OpenConnection()

bool mitk::OpenIGTLinkTrackingDevice::OpenConnection ( )

overridevirtual

Opens the connection to the device. This have to be done before the tracking is started.

Exceptions

mitk::IGTHardwareException Throws an exception if there is an error during open connection.

Implements mitk::TrackingDevice.

Definition at line 432 of file mitkOpenIGTLinkTrackingDevice.cpp.

◆ ReceiveMessage()

mitk::IGTLMessage::Pointer mitk::OpenIGTLinkTrackingDevice::ReceiveMessage ( int waitingTime )

protected

Receives one message from the OpenIGTLink connection. Starts the tracking stream if required.

Definition at line 270 of file mitkOpenIGTLinkTrackingDevice.cpp.

◆ SetHostname()

void mitk::OpenIGTLinkTrackingDevice::SetHostname ( std::string hostname )

Sets the hostname for the Open IGT Link connection. Default value is 127.0.0.1 (localhost).

Definition at line 200 of file mitkOpenIGTLinkTrackingDevice.cpp.

◆ SetPortNumber()

void mitk::OpenIGTLinkTrackingDevice::SetPortNumber ( int portNumber )

Sets the port number for the Open IGT Link connection. Default value is -1 (invalid).

Definition at line 195 of file mitkOpenIGTLinkTrackingDevice.cpp.

◆ StartTracking()

bool mitk::OpenIGTLinkTrackingDevice::StartTracking ( )

overridevirtual

Starts the tracking.

Returns: Returns true if the tracking is started. Throws an exception if an error occures.

Exceptions

mitk::IGTHardwareException Throws an exception if there is an error during start tracking.

Implements mitk::TrackingDevice.

Definition at line 354 of file mitkOpenIGTLinkTrackingDevice.cpp.

◆ StopTracking()

bool mitk::OpenIGTLinkTrackingDevice::StopTracking ( )

overridevirtual

Stops the tracking.

Returns: Returns true if the tracking is stopped.

Reimplemented from mitk::TrackingDevice.

Definition at line 394 of file mitkOpenIGTLinkTrackingDevice.cpp.

◆ UpdateTools()

void mitk::OpenIGTLinkTrackingDevice::UpdateTools ( )

protected

Updates the tools from the open IGT link connection. Is called every time a message received event is invoked.

Definition at line 327 of file mitkOpenIGTLinkTrackingDevice.cpp.

Member Data Documentation

◆ m_AllTools

std::vector<OpenIGTLinkTrackingTool::Pointer> mitk::OpenIGTLinkTrackingDevice::m_AllTools

protected

vector holding all tools

Definition at line 153 of file mitkOpenIGTLinkTrackingDevice.h.

◆ m_IGTLDeviceSource

mitk::IGTLTrackingDataDeviceSource::Pointer mitk::OpenIGTLinkTrackingDevice::m_IGTLDeviceSource

protected

Definition at line 150 of file mitkOpenIGTLinkTrackingDevice.h.

◆ m_IGTLMsgToNavDataFilter

mitk::IGTLMessageToNavigationDataFilter::Pointer mitk::OpenIGTLinkTrackingDevice::m_IGTLMsgToNavDataFilter

protected

Definition at line 151 of file mitkOpenIGTLinkTrackingDevice.h.

◆ m_MessageReceivedObserverTag

unsigned long mitk::OpenIGTLinkTrackingDevice::m_MessageReceivedObserverTag

protected

Definition at line 135 of file mitkOpenIGTLinkTrackingDevice.h.

◆ m_OpenIGTLinkClient

mitk::IGTLClient::Pointer mitk::OpenIGTLinkTrackingDevice::m_OpenIGTLinkClient

protected

Definition at line 147 of file mitkOpenIGTLinkTrackingDevice.h.

◆ m_UpdateRate

int mitk::OpenIGTLinkTrackingDevice::m_UpdateRate

protected

holds the update rate in FPS (will be set automatically when the OpenIGTLink connection is established)

Definition at line 155 of file mitkOpenIGTLinkTrackingDevice.h.

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

Modules/IGT/TrackingDevices/mitkOpenIGTLinkTrackingDevice.h
Modules/IGT/TrackingDevices/mitkOpenIGTLinkTrackingDevice.cpp

Public Member Functions

Protected Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ OpenIGTLinkTrackingDevice()

◆ ~OpenIGTLinkTrackingDevice()

Member Function Documentation

◆ AddTool()

◆ AutoDetectTools()

◆ AutoDetectToolsAvailable()

◆ CloseConnection()

◆ DiscoverTools()

◆ GetAllTools()

◆ GetHostname()

◆ GetPortNumber()

◆ GetTool()

◆ GetToolCount()

◆ InternalAddTool()

◆ IsDeviceInstalled()

◆ itkCloneMacro()

◆ itkFactorylessNewMacro()

◆ itkGetConstMacro()

◆ itkSetMacro()

◆ mitkClassMacro()

◆ OpenConnection()

◆ ReceiveMessage()

◆ SetHostname()

◆ SetPortNumber()

◆ StartTracking()

◆ StopTracking()

◆ UpdateTools()

Member Data Documentation

◆ m_AllTools

◆ m_IGTLDeviceSource

◆ m_IGTLMsgToNavDataFilter

◆ m_MessageReceivedObserverTag

◆ m_OpenIGTLinkClient

◆ m_UpdateRate