An object of this class represents a tool of a Polhemus tracking device. A tool has to be added to a tracking device which will then continuously update the tool coordinates. More...

#include <mitkPolhemusTool.h>

Inheritance diagram for mitk::PolhemusTool:

Public Types
enum	DistortionLevel { UNDEFINED , NO_DISTORTION , MINOR_DISTORTION , SIGNIFICANT_DISTORTION }

Public Member Functions
	mitkClassMacro (PolhemusTool, TrackingTool)

virtual void	SetToolPort (int _ToolPort)
	Sets the port of the tool. (e.g. 1 for port "SENS 1" etc.)

virtual int	GetToolPort ()
	Sets the port of the tool. (e.g. 1 for port "SENS 1" etc.)

void	SetDistortionLevel (const int level)
	Sets the distortion level by mapping the integer value (read from the response frame) to the corresponding enumeration literal.

DistortionLevel	GetDistortionLevel () const
	Returns the distortion level.

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) PolhemusTool()

virtual	~PolhemusTool ()

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
int	m_ToolPort

DistortionLevel	m_DistortionLevel

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	PolhemusTrackingDevice

Detailed Description

An object of this class represents a tool of a Polhemus tracking device. A tool has to be added to a tracking device which will then continuously update the tool coordinates.

Documentation:

Definition at line 28 of file mitkPolhemusTool.h.

Member Enumeration Documentation

◆ DistortionLevel

enum mitk::PolhemusTool::DistortionLevel

Enumerator
UNDEFINED	Distortion level is not determined.
NO_DISTORTION	System operational with a good quality magnetic signal.
MINOR_DISTORTION	System operational with a marginal magnetic signal.
SIGNIFICANT_DISTORTION	System operational with a poor magnetic signal.

Definition at line 34 of file mitkPolhemusTool.h.

Constructor & Destructor Documentation

◆ ~PolhemusTool()

mitk::PolhemusTool::~PolhemusTool ( void )

protectedvirtual

Definition at line 22 of file mitkPolhemusTool.cpp.

Member Function Documentation

◆ GetDistortionLevel()

mitk::PolhemusTool::DistortionLevel mitk::PolhemusTool::GetDistortionLevel ( ) const

Returns the distortion level.

Returns: The distortion level. UNDEFINED, if distortion level is not determined.

Definition at line 56 of file mitkPolhemusTool.cpp.

◆ GetToolPort()

int mitk::PolhemusTool::GetToolPort ( )

virtual

Sets the port of the tool. (e.g. 1 for port "SENS 1" etc.)

Definition at line 31 of file mitkPolhemusTool.cpp.

◆ itkCloneMacro()

mitk::PolhemusTool::itkCloneMacro ( Self )

protected

◆ itkFactorylessNewMacro()

mitk::PolhemusTool::itkFactorylessNewMacro ( Self )

protected

◆ mitkClassMacro()

mitk::PolhemusTool::mitkClassMacro	(	PolhemusTool	,
		TrackingTool	)

◆ SetDistortionLevel()

void mitk::PolhemusTool::SetDistortionLevel ( const int level )

Sets the distortion level by mapping the integer value (read from the response frame) to the corresponding enumeration literal.

According to the Polhemus Liberty documentation:

0 means system operational with a good quality magnetic signal. No distortion.
1 means system operational with a marginal magnetic signal. Minor distortion.
2 means system operational with a poor magnetic signal. Significant distortion.

Parameters

level The distortion level represented as 0, 1 or 2.

Definition at line 36 of file mitkPolhemusTool.cpp.

◆ SetToolPort()

void mitk::PolhemusTool::SetToolPort ( int _ToolPort )

virtual

Sets the port of the tool. (e.g. 1 for port "SENS 1" etc.)

Definition at line 26 of file mitkPolhemusTool.cpp.

Friends And Related Symbol Documentation

◆ PolhemusTrackingDevice

friend class PolhemusTrackingDevice

friend

Definition at line 31 of file mitkPolhemusTool.h.

Member Data Documentation

◆ m_DistortionLevel

DistortionLevel mitk::PolhemusTool::m_DistortionLevel

protected

Definition at line 80 of file mitkPolhemusTool.h.

◆ m_ToolPort

int mitk::PolhemusTool::m_ToolPort

protected

Definition at line 78 of file mitkPolhemusTool.h.

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

Modules/IGT/TrackingDevices/mitkPolhemusTool.h
Modules/IGT/TrackingDevices/mitkPolhemusTool.cpp

Public Types

Public Member Functions

Protected Member Functions

Protected Attributes

Friends

Detailed Description

Member Enumeration Documentation

◆ DistortionLevel

Constructor & Destructor Documentation

◆ ~PolhemusTool()

Member Function Documentation

◆ GetDistortionLevel()

◆ GetToolPort()

◆ itkCloneMacro()

◆ itkFactorylessNewMacro()

◆ mitkClassMacro()

◆ SetDistortionLevel()

◆ SetToolPort()

Friends And Related Symbol Documentation

◆ PolhemusTrackingDevice

Member Data Documentation

◆ m_DistortionLevel

◆ m_ToolPort