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:

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Collaboration diagram for mitk::OpenIGTLinkTrackingDevice:

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Public Member Functions
	mitkClassMacro (OpenIGTLinkTrackingDevice, TrackingDevice)

Pointer	Clone () const

void	SetPortNumber (int portNumber)

void	SetHostname (std::string hostname)

int	GetPortNumber ()

std::string	GetHostname ()

virtual bool	StartTracking ()
	Starts the tracking. More...

virtual bool	StopTracking ()
	Stops the tracking. More...

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

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

virtual unsigned int	GetToolCount () const

TrackingTool *	GetTool (unsigned int toolNumber) const

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. More...

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. More...

bool	IsDeviceInstalled ()

virtual void	SetUpdateRate (int _arg)

virtual int	GetUpdateRate () const
	Sets the update rate of the device in fps. Default value is 60 fps. More...

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. More...

virtual void	SetRotationMode (RotationMode r)

virtual RotationMode	GetRotationMode () const

TrackingDeviceState	GetState () const
	return current object state (Setup, Ready or Tracking) More...

TrackingDeviceType	GetType () const
	Deprecated! Use the more specific getDeviceData instead. return device type identifier. More...

void	SetType (TrackingDeviceType type)
	Deprecated! Use the more specific setDeviceData instead. set device type. More...

TrackingDeviceData	GetData () const
	return device data More...

void	SetData (TrackingDeviceData data)
	set device type More...

Static Public Member Functions
static Pointer	New ()

Protected Member Functions
	OpenIGTLinkTrackingDevice ()
	Returns the update rate of the device in fps. More...

	~OpenIGTLinkTrackingDevice ()

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

void	UpdateTools ()

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

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

	TrackingDevice ()

virtual	~TrackingDevice ()

Protected Attributes
unsigned long	m_MessageReceivedObserverTag

mitk::IGTLClient::Pointer	m_OpenIGTLinkClient

mitk::IGTLTransformDeviceSource::Pointer	m_IGTLDeviceSource

mitk::IGTLMessageToNavigationDataFilter::Pointer	m_IGTLMsgToNavDataFilter

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

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

Protected Attributes inherited from mitk::TrackingDevice
TrackingDeviceData	m_Data
	current device Data More...

bool	m_StopTracking
	signal stop to tracking thread More...

itk::FastMutexLock::Pointer	m_StopTrackingMutex
	mutex to control access to m_StopTracking More...

itk::FastMutexLock::Pointer	m_TrackingFinishedMutex
	mutex to manage control flow of StopTracking() More...

itk::FastMutexLock::Pointer	m_StateMutex
	mutex to control access to m_State More...

RotationMode	m_RotationMode
	defines the rotation mode Standard or Transposed, Standard is default More...

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 40 of file mitkOpenIGTLinkTrackingDevice.h.

Constructor & Destructor Documentation

mitk::OpenIGTLinkTrackingDevice::OpenIGTLinkTrackingDevice ( )

protected

Returns the update rate of the device in fps.

Definition at line 35 of file mitkOpenIGTLinkTrackingDevice.cpp.

References mitk::OpenIGTLinkTypeInformation::GetDeviceDataOpenIGTLinkTrackingDeviceConnection(), mitk::TrackingDevice::m_Data, m_IGTLDeviceSource, m_OpenIGTLinkClient, mitk::IGTLTransformDeviceSource::New(), and mitk::New().

mitk::OpenIGTLinkTrackingDevice::~OpenIGTLinkTrackingDevice ( )

protected

Definition at line 47 of file mitkOpenIGTLinkTrackingDevice.cpp.

Member Function Documentation

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 76 of file mitkOpenIGTLinkTrackingDevice.cpp.

Pointer mitk::OpenIGTLinkTrackingDevice::Clone ( ) const

bool mitk::OpenIGTLinkTrackingDevice::CloseConnection ( )

virtual

Closes the connection and clears all resources.

Implements mitk::TrackingDevice.

Definition at line 399 of file mitkOpenIGTLinkTrackingDevice.cpp.

References MITK_WARN, and Setup().

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 91 of file mitkOpenIGTLinkTrackingDevice.cpp.

References MITK_INFO, and MITK_WARN.

Referenced by mitk::OpenIGTLinkTypeInformation::CreateTrackingDeviceSource().

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

protected

Returns: Returns all tools of the tracking device.

Definition at line 423 of file mitkOpenIGTLinkTrackingDevice.cpp.

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

Definition at line 56 of file mitkOpenIGTLinkTrackingDevice.cpp.

int mitk::OpenIGTLinkTrackingDevice::GetPortNumber ( )

Definition at line 51 of file mitkOpenIGTLinkTrackingDevice.cpp.

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

virtual

Parameters

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

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

Implements mitk::TrackingDevice.

Definition at line 369 of file mitkOpenIGTLinkTrackingDevice.cpp.

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

virtual

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

Implements mitk::TrackingDevice.

Definition at line 364 of file mitkOpenIGTLinkTrackingDevice.cpp.

virtual int mitk::OpenIGTLinkTrackingDevice::GetUpdateRate ( ) const

virtual

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

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 85 of file mitkOpenIGTLinkTrackingDevice.cpp.

bool mitk::OpenIGTLinkTrackingDevice::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 from mitk::TrackingDevice.

Definition at line 71 of file mitkOpenIGTLinkTrackingDevice.cpp.

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

static Pointer mitk::OpenIGTLinkTrackingDevice::New ( )

static

Referenced by QmitkOpenIGTLinkWidget::ConstructTrackingDevice().

bool mitk::OpenIGTLinkTrackingDevice::OpenConnection ( )

virtual

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 377 of file mitkOpenIGTLinkTrackingDevice.cpp.

References MITK_WARN, and Setup().

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 66 of file mitkOpenIGTLinkTrackingDevice.cpp.

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

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

Definition at line 61 of file mitkOpenIGTLinkTrackingDevice.cpp.

virtual void mitk::OpenIGTLinkTrackingDevice::SetUpdateRate ( int _arg )

virtual

bool mitk::OpenIGTLinkTrackingDevice::StartTracking ( )

virtual

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 301 of file mitkOpenIGTLinkTrackingDevice.cpp.

References MITK_WARN, mitk::IGTLMessageToNavigationDataFilter::New(), mitk::New(), and UpdateTools().

bool mitk::OpenIGTLinkTrackingDevice::StopTracking ( )

virtual

Stops the tracking.

Returns: Returns true if the tracking is stopped.

Reimplemented from mitk::TrackingDevice.

Definition at line 340 of file mitkOpenIGTLinkTrackingDevice.cpp.

References MITK_WARN.

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 275 of file mitkOpenIGTLinkTrackingDevice.cpp.

References MITK_ERROR, and MITK_WARN.

Referenced by StartTracking().

Member Data Documentation

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

protected

vector holding all tools

Definition at line 145 of file mitkOpenIGTLinkTrackingDevice.h.

mitk::IGTLTransformDeviceSource::Pointer mitk::OpenIGTLinkTrackingDevice::m_IGTLDeviceSource

protected

Definition at line 142 of file mitkOpenIGTLinkTrackingDevice.h.

Referenced by OpenIGTLinkTrackingDevice().

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

protected

Definition at line 143 of file mitkOpenIGTLinkTrackingDevice.h.

unsigned long mitk::OpenIGTLinkTrackingDevice::m_MessageReceivedObserverTag

protected

Definition at line 131 of file mitkOpenIGTLinkTrackingDevice.h.

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

protected

Definition at line 139 of file mitkOpenIGTLinkTrackingDevice.h.

Referenced by OpenIGTLinkTrackingDevice().

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 147 of file mitkOpenIGTLinkTrackingDevice.h.

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

Public Member Functions

Static Public Member Functions

Protected Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation