Interface for all Tracking Devices. More...

#include <mitkTrackingDevice.h>

Inheritance diagram for mitk::TrackingDevice:

Public Types
enum	RotationMode { RotationStandard , RotationTransposed }

enum	TrackingDeviceState { Setup , Ready , Tracking }

Public Member Functions
	mitkClassMacroItkParent (TrackingDevice, itk::Object)

virtual bool	OpenConnection ()=0
	Opens a connection to the device.

virtual bool	CloseConnection ()=0
	Closes the connection to the device.

virtual bool	StartTracking ()=0
	start retrieving tracking data from the device.

virtual bool	StopTracking ()
	stop retrieving tracking data from the device. stop retrieving tracking data from the device. This may only be called after StartTracking was called (e.g. the object is in Tracking mode). This will change the object state from Tracking to Ready.

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 unsigned int	GetToolCount () const =0
	Returns number of tracking tools.

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 Member Functions
void	SetState (TrackingDeviceState state)
	change object state

	TrackingDevice ()

	~TrackingDevice () override

Protected Attributes
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

Detailed Description

Interface for all Tracking Devices.

Documentation

Defines the methods that are common for all tracking devices.

Definition at line 34 of file mitkTrackingDevice.h.

Member Enumeration Documentation

◆ RotationMode

enum mitk::TrackingDevice::RotationMode

Defines the rotation modes of this tracking device which results in different representations of quaternions.

Standard: normal representation, rawdata from the device is not changed (DEFAULT)
Transposed: the rotation is stored transposed, which is (by mistake!) expected by some older MITK classes due to an ambigious method naming in VNL.

CAUTION: The rotation mode can only be changed for backward compatibility of old WRONG code. PLEASE DO NOT CHANGE THE ROTATION MODE UNLESS YOU ARE KNOWING EXACTLY WHAT YOU ARE DOING!

use SetRotationMode to change the mode.

Enumerator
RotationStandard
RotationTransposed

Definition at line 52 of file mitkTrackingDevice.h.

◆ TrackingDeviceState

enum mitk::TrackingDevice::TrackingDeviceState

Enumerator
Setup
Ready
Tracking

Definition at line 54 of file mitkTrackingDevice.h.

Constructor & Destructor Documentation

◆ TrackingDevice()

mitk::TrackingDevice::TrackingDevice ( )

protected

Definition at line 24 of file mitkTrackingDevice.cpp.

◆ ~TrackingDevice()

mitk::TrackingDevice::~TrackingDevice ( )

overrideprotected

Definition at line 34 of file mitkTrackingDevice.cpp.

Member Function Documentation

◆ AddSingleToolIsAvailable()

bool mitk::TrackingDevice::AddSingleToolIsAvailable ( )

virtual

Returns: Returns true if it is possible to add a single tool. Default return is true.

Reimplemented in mitk::NDITrackingDevice.

Definition at line 51 of file mitkTrackingDevice.cpp.

◆ AutoDetectTools()

mitk::NavigationToolStorage::Pointer mitk::TrackingDevice::AutoDetectTools ( )

virtual

Autodetects tools from this device and returns them as a navigation tool storage.

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

Reimplemented in mitk::NDITrackingDevice, mitk::OpenIGTLinkTrackingDevice, and mitk::PolhemusTrackingDevice.

Definition at line 56 of file mitkTrackingDevice.cpp.

◆ AutoDetectToolsAvailable()

bool mitk::TrackingDevice::AutoDetectToolsAvailable ( )

virtual

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

Reimplemented in mitk::NDITrackingDevice, mitk::OpenIGTLinkTrackingDevice, and mitk::PolhemusTrackingDevice.

Definition at line 46 of file mitkTrackingDevice.cpp.

◆ CloseConnection()

virtual bool mitk::TrackingDevice::CloseConnection ( )

pure virtual

Closes the connection to the device.

This may only be called if there is currently a connection to the device, but tracking is not running (e.g. object is in Ready state) Closes the connection with the device

Implemented in mitk::ClaronTrackingDevice, mitk::MicroBirdTrackingDevice, mitk::NDITrackingDevice, mitk::OpenIGTLinkTrackingDevice, mitk::OptitrackTrackingDevice, mitk::PolhemusTrackingDevice, mitk::VirtualTrackingDevice, and TrackingDeviceTestClass.

◆ GetData()

mitk::TrackingDeviceData mitk::TrackingDevice::GetData ( ) const

return device data

Definition at line 105 of file mitkTrackingDevice.cpp.

◆ GetState()

mitk::TrackingDevice::TrackingDeviceState mitk::TrackingDevice::GetState ( ) const

return current object state (Setup, Ready or Tracking)

Definition at line 62 of file mitkTrackingDevice.cpp.

◆ GetTool()

virtual TrackingTool * mitk::TrackingDevice::GetTool ( unsigned int toolNumber ) const

pure virtual

Return tool with index toolNumber.

tools are numbered from 0 to GetToolCount() - 1.

Implemented in mitk::ClaronTrackingDevice, mitk::NDITrackingDevice, mitk::OpenIGTLinkTrackingDevice, mitk::OptitrackTrackingDevice, mitk::PolhemusTrackingDevice, mitk::VirtualTrackingDevice, and TrackingDeviceTestClass.

◆ GetToolByName()

mitk::TrackingTool * mitk::TrackingDevice::GetToolByName ( std::string name ) const

virtual

Returns the tool with the given tool name.

Note: subclasses can and should implement optimized versions of this method

Returns: the given tool or nullptr if no tool with that name exists

Reimplemented in mitk::NDITrackingDevice.

Definition at line 134 of file mitkTrackingDevice.cpp.

◆ GetToolCount()

virtual unsigned int mitk::TrackingDevice::GetToolCount ( ) const

pure virtual

Returns number of tracking tools.

Implemented in mitk::ClaronTrackingDevice, mitk::MicroBirdTrackingDevice, mitk::NDITrackingDevice, mitk::OpenIGTLinkTrackingDevice, mitk::OptitrackTrackingDevice, mitk::PolhemusTrackingDevice, mitk::VirtualTrackingDevice, and TrackingDeviceTestClass.

◆ GetTrackingDeviceName()

std::string mitk::TrackingDevice::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.

Definition at line 143 of file mitkTrackingDevice.cpp.

◆ GetType()

mitk::TrackingDeviceType mitk::TrackingDevice::GetType ( ) const

Deprecated! Use the more specific getData or GetTrackingDeviceName instead. return device type identifier.

Definition at line 87 of file mitkTrackingDevice.cpp.

◆ IsDeviceInstalled()

bool mitk::TrackingDevice::IsDeviceInstalled ( )

virtual

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 in mitk::ClaronTrackingDevice, mitk::OpenIGTLinkTrackingDevice, mitk::OptitrackTrackingDevice, and mitk::PolhemusTrackingDevice.

Definition at line 38 of file mitkTrackingDevice.cpp.

◆ itkGetConstMacro()

mitk::TrackingDevice::itkGetConstMacro	(	RotationMode	,
		RotationMode	)

Returns: Returns the rotation mode of this class. See documentation of enum RotationMode for details on the different modes.

◆ mitkClassMacroItkParent()

mitk::TrackingDevice::mitkClassMacroItkParent	(	TrackingDevice	,
		itk::Object	)

◆ OpenConnection()

virtual bool mitk::TrackingDevice::OpenConnection ( )

pure virtual

Opens a connection to the device.

This may only be called if there is currently no connection to the device. If OpenConnection() is successful, the object will change from Setup state to Ready state

Implemented in mitk::ClaronTrackingDevice, mitk::MicroBirdTrackingDevice, mitk::NDITrackingDevice, mitk::OpenIGTLinkTrackingDevice, mitk::OptitrackTrackingDevice, mitk::PolhemusTrackingDevice, and mitk::VirtualTrackingDevice.

◆ SetData()

void mitk::TrackingDevice::SetData ( mitk::TrackingDeviceData data )

set device type

Definition at line 110 of file mitkTrackingDevice.cpp.

◆ SetRotationMode()

void mitk::TrackingDevice::SetRotationMode ( RotationMode r )

virtual

Sets the rotation mode of this class. See documentation of enum RotationMode for details on the different modes. This method has to be implemented in a deriving class to become functional / if different rotation modes should be supported. CAUTION: The rotation mode can only be changed for backward compatibility of old WRONG code. PLEASE DO NOT CHANGE THE ROTATION MODE UNLESS YOU ARE KNOWING EXACTLY WHAT YOU ARE DOING!

Reimplemented in mitk::NDITrackingDevice.

Definition at line 82 of file mitkTrackingDevice.cpp.

◆ SetState()

void mitk::TrackingDevice::SetState ( TrackingDeviceState state )

protected

change object state

Definition at line 69 of file mitkTrackingDevice.cpp.

◆ SetType()

void mitk::TrackingDevice::SetType ( mitk::TrackingDeviceType deviceType )

Deprecated! Use the more specific setDeviceData instead. set device type.

Definition at line 91 of file mitkTrackingDevice.cpp.

◆ StartTracking()

virtual bool mitk::TrackingDevice::StartTracking ( )

pure virtual

start retrieving tracking data from the device.

This may only be called after the connection to the device has been established with a call to OpenConnection() (E.g. object is in Ready mode). This will change the object state from Ready to Tracking

Implemented in mitk::ClaronTrackingDevice, mitk::MicroBirdTrackingDevice, mitk::NDITrackingDevice, mitk::OpenIGTLinkTrackingDevice, mitk::OptitrackTrackingDevice, mitk::PolhemusTrackingDevice, mitk::VirtualTrackingDevice, and TrackingDeviceTestClass.

◆ StopTracking()

bool mitk::TrackingDevice::StopTracking ( )

virtual

stop retrieving tracking data from the device. stop retrieving tracking data from the device. This may only be called after StartTracking was called (e.g. the object is in Tracking mode). This will change the object state from Tracking to Ready.

Reimplemented in mitk::ClaronTrackingDevice, mitk::MicroBirdTrackingDevice, mitk::OpenIGTLinkTrackingDevice, mitk::OptitrackTrackingDevice, mitk::PolhemusTrackingDevice, and mitk::VirtualTrackingDevice.

Definition at line 115 of file mitkTrackingDevice.cpp.

Member Data Documentation

◆ m_Data

TrackingDeviceData mitk::TrackingDevice::m_Data

protected

current device Data

Definition at line 194 of file mitkTrackingDevice.h.

◆ m_RotationMode

RotationMode mitk::TrackingDevice::m_RotationMode

protected

defines the rotation mode Standard or Transposed, Standard is default

Definition at line 200 of file mitkTrackingDevice.h.

◆ m_StateMutex

std::mutex mitk::TrackingDevice::m_StateMutex

mutableprotected

mutex to control access to m_State

Definition at line 199 of file mitkTrackingDevice.h.

◆ m_StopTracking

bool mitk::TrackingDevice::m_StopTracking

protected

signal stop to tracking thread

Definition at line 196 of file mitkTrackingDevice.h.

◆ m_StopTrackingMutex

std::mutex mitk::TrackingDevice::m_StopTrackingMutex

protected

mutex to control access to m_StopTracking

Definition at line 197 of file mitkTrackingDevice.h.

◆ m_TrackingFinishedMutex

std::mutex mitk::TrackingDevice::m_TrackingFinishedMutex

protected

mutex to manage control flow of StopTracking()

Definition at line 198 of file mitkTrackingDevice.h.

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

Modules/IGT/TrackingDevices/mitkTrackingDevice.h
Modules/IGT/TrackingDevices/mitkTrackingDevice.cpp

Public Types

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Member Enumeration Documentation

◆ RotationMode

◆ TrackingDeviceState

Constructor & Destructor Documentation

◆ TrackingDevice()

◆ ~TrackingDevice()

Member Function Documentation

◆ AddSingleToolIsAvailable()

◆ AutoDetectTools()

◆ AutoDetectToolsAvailable()

◆ CloseConnection()

◆ GetData()

◆ GetState()

◆ GetTool()

◆ GetToolByName()

◆ GetToolCount()

◆ GetTrackingDeviceName()

◆ GetType()

◆ IsDeviceInstalled()

◆ itkGetConstMacro()

◆ mitkClassMacroItkParent()

◆ OpenConnection()

◆ SetData()

◆ SetRotationMode()

◆ SetState()

◆ SetType()

◆ StartTracking()

◆ StopTracking()

Member Data Documentation

◆ m_Data

◆ m_RotationMode

◆ m_StateMutex

◆ m_StopTracking

◆ m_StopTrackingMutex

◆ m_TrackingFinishedMutex