Interface for all Tracking Devices. More...

#include <mitkTrackingDevice.h>

Inheritance diagram for mitk::TrackingDevice:

Collaboration 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. More...

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

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

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. More...

virtual TrackingTool *	GetTool (unsigned int toolNumber) const =0
	Return tool with index toolNumber. More...

virtual mitk::TrackingTool *	GetToolByName (std::string name) const
	Returns the tool with the given tool name. More...

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

virtual bool	IsDeviceInstalled ()

Protected Member Functions
void	SetState (TrackingDeviceState state)
	change object state More...

	TrackingDevice ()

virtual	~TrackingDevice ()

Protected Attributes
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...

Detailed Description

Interface for all Tracking Devices.

Documentation Defines the methods that are common for all tracking devices.

Definition at line 38 of file mitkTrackingDevice.h.

Member Enumeration Documentation

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 56 of file mitkTrackingDevice.h.

enum mitk::TrackingDevice::TrackingDeviceState

Enumerator
Setup
Ready
Tracking

Definition at line 58 of file mitkTrackingDevice.h.

Constructor & Destructor Documentation

mitk::TrackingDevice::TrackingDevice ( )

protected

Definition at line 32 of file mitkTrackingDevice.cpp.

References m_StateMutex, m_StopTrackingMutex, m_TrackingFinishedMutex, and mitk::New().

mitk::TrackingDevice::~TrackingDevice ( )

protectedvirtual

Definition at line 45 of file mitkTrackingDevice.cpp.

Member Function Documentation

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::OptitrackTrackingDevice, mitk::NDITrackingDevice, mitk::VirtualTrackingDevice, mitk::OpenIGTLinkTrackingDevice, mitk::ClaronTrackingDevice, and mitk::MicroBirdTrackingDevice.

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

return device data

Definition at line 101 of file mitkTrackingDevice.cpp.

virtual RotationMode mitk::TrackingDevice::GetRotationMode ( ) const

virtual

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

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

return current object state (Setup, Ready or Tracking)

Definition at line 58 of file mitkTrackingDevice.cpp.

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::NDITrackingDevice, mitk::OptitrackTrackingDevice, mitk::VirtualTrackingDevice, mitk::OpenIGTLinkTrackingDevice, and mitk::ClaronTrackingDevice.

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 NULL if no tool with that name exists

Reimplemented in mitk::NDITrackingDevice.

Definition at line 130 of file mitkTrackingDevice.cpp.

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

pure virtual

Returns number of tracking tools.

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

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

Deprecated! Use the more specific getDeviceData instead. return device type identifier.

Definition at line 83 of file mitkTrackingDevice.cpp.

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

Definition at line 49 of file mitkTrackingDevice.cpp.

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

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::OptitrackTrackingDevice, mitk::VirtualTrackingDevice, mitk::NDITrackingDevice, mitk::OpenIGTLinkTrackingDevice, mitk::ClaronTrackingDevice, and mitk::MicroBirdTrackingDevice.

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

set device type

Definition at line 106 of file mitkTrackingDevice.cpp.

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 78 of file mitkTrackingDevice.cpp.

References MITK_WARN.

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

protected

change object state

Definition at line 65 of file mitkTrackingDevice.cpp.

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

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

Definition at line 87 of file mitkTrackingDevice.cpp.

References mitk::TrackingDeviceTypeCollection::GetFirstCompatibleDeviceDataForLine(), us::GetModuleContext(), and MITK_ERROR.

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::NDITrackingDevice, mitk::OptitrackTrackingDevice, mitk::MicroBirdTrackingDevice, mitk::VirtualTrackingDevice, mitk::OpenIGTLinkTrackingDevice, and mitk::ClaronTrackingDevice.

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::OptitrackTrackingDevice, mitk::VirtualTrackingDevice, mitk::MicroBirdTrackingDevice, mitk::OpenIGTLinkTrackingDevice, and mitk::ClaronTrackingDevice.

Definition at line 111 of file mitkTrackingDevice.cpp.

References mitk::IGTTimeStamp::GetInstance(), and mitk::IGTTimeStamp::Stop().

Referenced by mitk::MicroBirdTrackingDevice::StopTracking().