Interface for all Tracking Tools. More...

#include <mitkTrackingTool.h>

Inheritance diagram for mitk::TrackingTool:

Public Member Functions
	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
	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
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

Detailed Description

Interface for all Tracking Tools.

Documentation

This class is a complete TrackingTool implementation. It can either be used directly by TrackingDevices, or be subclassed for more specific implementations. mitk::MicroBirdTrackingDevice uses this class to manage its tools. Other tracking devices uses specialized versions of this class (e.g. mitk::NDITrackingTool)

The TrackingTool class holds all coordinate transforms associated with tracking of a tool. The sensor attached to the tool is localized in the global tracking coordinate system (m_Position, m_Orientation). A tool tip (m_ToolTipPosition) can be defined in sensor coordinates. The tool axis defines the main axis of the tool and is defined as the negative z-axis of the tool tip coordinate system The main axis of the representation object of the tool (e.g. a surface) has to be defined along the negative z-axis

Coordinate transforms associated to the tracking tool.

Definition at line 42 of file mitkTrackingTool.h.

Constructor & Destructor Documentation

◆ TrackingTool()

mitk::TrackingTool::TrackingTool ( )

protected

< Gets the IGT timestamp of the tracking tool object (time in milliseconds). Returns 0 if the timestamp was not set.

Definition at line 15 of file mitkTrackingTool.cpp.

◆ ~TrackingTool()

mitk::TrackingTool::~TrackingTool ( )

overrideprotected

Definition at line 42 of file mitkTrackingTool.cpp.

Member Function Documentation

◆ Disable()

bool mitk::TrackingTool::Disable ( )

virtual

disables the tool, so that it will not be tracked anymore

Reimplemented in mitk::OptitrackTrackingTool.

Definition at line 214 of file mitkTrackingTool.cpp.

◆ Enable()

bool mitk::TrackingTool::Enable ( )

virtual

enables the tool, so that it will be tracked

Reimplemented in mitk::OptitrackTrackingTool.

Definition at line 203 of file mitkTrackingTool.cpp.

◆ GetErrorMessage()

const char * mitk::TrackingTool::GetErrorMessage ( ) const

virtual

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)

Definition at line 265 of file mitkTrackingTool.cpp.

◆ GetOrientation()

void mitk::TrackingTool::GetOrientation ( Quaternion & orientation ) const

virtual

returns the current orientation of the tool as a quaternion in a mitk::Point4D (in the tracking device coordinate system)

Definition at line 173 of file mitkTrackingTool.cpp.

◆ GetPosition()

void mitk::TrackingTool::GetPosition ( Point3D & position ) const

virtual

returns the current position of the tool as an array of three floats (in the tracking device coordinate system)

Definition at line 137 of file mitkTrackingTool.cpp.

◆ GetToolAxisOrientation()

mitk::Quaternion mitk::TrackingTool::GetToolAxisOrientation ( ) const

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

Definition at line 98 of file mitkTrackingTool.cpp.

◆ GetToolName()

const char * mitk::TrackingTool::GetToolName ( ) const

virtual

every tool has a name thatgit can be used to identify it.

Definition at line 61 of file mitkTrackingTool.cpp.

◆ GetToolTipPosition()

mitk::Point3D mitk::TrackingTool::GetToolTipPosition ( ) const

returns the tool tip in tool coordinates, which where set by SetToolTip

Definition at line 92 of file mitkTrackingTool.cpp.

◆ GetTrackingError()

float mitk::TrackingTool::GetTrackingError ( ) const

virtual

returns one value that corresponds to the overall tracking error.

Reimplemented in mitk::OptitrackTrackingTool.

Definition at line 248 of file mitkTrackingTool.cpp.

◆ IsDataValid()

bool mitk::TrackingTool::IsDataValid ( ) const

virtual

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

Reimplemented in mitk::OptitrackTrackingTool.

Definition at line 242 of file mitkTrackingTool.cpp.

◆ IsEnabled()

bool mitk::TrackingTool::IsEnabled ( ) const

virtual

returns whether the tool is enabled or disabled

Reimplemented in mitk::OptitrackTrackingTool.

Definition at line 225 of file mitkTrackingTool.cpp.

◆ IsToolTipSet()

bool mitk::TrackingTool::IsToolTipSet ( ) const

virtual

returns true if a tool tip is set, false if not

Definition at line 131 of file mitkTrackingTool.cpp.

◆ itkCloneMacro()

mitk::TrackingTool::itkCloneMacro ( Self )

◆ itkFactorylessNewMacro()

mitk::TrackingTool::itkFactorylessNewMacro ( Self )

◆ itkSetMacro()

mitk::TrackingTool::itkSetMacro	(	IGTTimeStamp	,
		double	)

◆ mitkClassMacroItkParent()

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

◆ PrintSelf()

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

override

Definition at line 46 of file mitkTrackingTool.cpp.

◆ SetDataValid()

void mitk::TrackingTool::SetDataValid ( bool isDataValid )

virtual

sets if the tracking data (position & orientation) is valid

Reimplemented in mitk::OptitrackTrackingTool.

Definition at line 231 of file mitkTrackingTool.cpp.

◆ SetErrorMessage()

void mitk::TrackingTool::SetErrorMessage ( const char * _arg )

virtual

sets the error message

Definition at line 271 of file mitkTrackingTool.cpp.

◆ SetOrientation()

void mitk::TrackingTool::SetOrientation ( Quaternion orientation )

virtual

sets the orientation as a quaternion

Definition at line 191 of file mitkTrackingTool.cpp.

◆ SetPosition()

void mitk::TrackingTool::SetPosition ( Point3D position )

virtual

sets the position

Definition at line 161 of file mitkTrackingTool.cpp.

◆ SetToolName() [1/2]

void mitk::TrackingTool::SetToolName ( const char * _arg )

virtual

Sets the name of the tool.

Definition at line 67 of file mitkTrackingTool.cpp.

◆ SetToolName() [2/2]

void mitk::TrackingTool::SetToolName ( const std::string _arg )

virtual

Sets the name of the tool.

Definition at line 87 of file mitkTrackingTool.cpp.

◆ SetToolTipPosition()

void mitk::TrackingTool::SetToolTipPosition	(	Point3D	toolTipPosition,
		Quaternion	orientation,
		ScalarType	eps = 0.0 )

virtual

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.

Definition at line 104 of file mitkTrackingTool.cpp.

◆ SetTrackingError()

void mitk::TrackingTool::SetTrackingError ( float error )

virtual

sets the tracking error

Reimplemented in mitk::OptitrackTrackingTool.

Definition at line 254 of file mitkTrackingTool.cpp.

Member Data Documentation

◆ m_DataValid

bool mitk::TrackingTool::m_DataValid

protected

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

Definition at line 95 of file mitkTrackingTool.h.

◆ m_Enabled

bool mitk::TrackingTool::m_Enabled

protected

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

Definition at line 94 of file mitkTrackingTool.h.

◆ m_ErrorMessage

std::string mitk::TrackingTool::m_ErrorMessage

protected

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

Definition at line 87 of file mitkTrackingTool.h.

◆ m_IGTTimeStamp

double mitk::TrackingTool::m_IGTTimeStamp

protected

contains the time at which the tracking data was recorded

Definition at line 88 of file mitkTrackingTool.h.

◆ m_MyMutex

std::mutex mitk::TrackingTool::m_MyMutex

mutableprotected

mutex to control concurrent access to the tool

Definition at line 89 of file mitkTrackingTool.h.

◆ m_Orientation

Quaternion mitk::TrackingTool::m_Orientation

protected

holds the orientation of the tool´in global tracking coordinates

Definition at line 92 of file mitkTrackingTool.h.

◆ m_Position

Point3D mitk::TrackingTool::m_Position

protected

holds the position of the tool in global tracking coordinates

Definition at line 91 of file mitkTrackingTool.h.

◆ m_ToolAxisOrientation

Quaternion mitk::TrackingTool::m_ToolAxisOrientation

protected

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

Definition at line 97 of file mitkTrackingTool.h.

◆ m_ToolName

std::string mitk::TrackingTool::m_ToolName

protected

every tool has a name that can be used to identify it.

Definition at line 86 of file mitkTrackingTool.h.

◆ m_ToolTipPosition

Point3D mitk::TrackingTool::m_ToolTipPosition

protected

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

Definition at line 96 of file mitkTrackingTool.h.

◆ m_ToolTipSet

bool mitk::TrackingTool::m_ToolTipSet

protected

Definition at line 98 of file mitkTrackingTool.h.

◆ m_TrackingError

float mitk::TrackingTool::m_TrackingError

protected

holds the tracking error of the tool

Definition at line 93 of file mitkTrackingTool.h.

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

Modules/IGT/TrackingDevices/mitkTrackingTool.h
Modules/IGT/TrackingDevices/mitkTrackingTool.cpp

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ TrackingTool()

◆ ~TrackingTool()

Member Function Documentation

◆ Disable()

◆ Enable()

◆ GetErrorMessage()

◆ GetOrientation()

◆ GetPosition()

◆ GetToolAxisOrientation()

◆ GetToolName()

◆ GetToolTipPosition()

◆ GetTrackingError()

◆ IsDataValid()

◆ IsEnabled()

◆ IsToolTipSet()

◆ itkCloneMacro()

◆ itkFactorylessNewMacro()

◆ itkSetMacro()

◆ mitkClassMacroItkParent()

◆ PrintSelf()

◆ SetDataValid()

◆ SetErrorMessage()

◆ SetOrientation()

◆ SetPosition()

◆ SetToolName() [1/2]

◆ SetToolName() [2/2]

◆ SetToolTipPosition()

◆ SetTrackingError()

Member Data Documentation

◆ m_DataValid

◆ m_Enabled

◆ m_ErrorMessage

◆ m_IGTTimeStamp

◆ m_MyMutex

◆ m_Orientation

◆ m_Position

◆ m_ToolAxisOrientation

◆ m_ToolName

◆ m_ToolTipPosition

◆ m_ToolTipSet

◆ m_TrackingError