Navigation Data. More...

#include <mitkNavigationData.h>

Inheritance diagram for mitk::NavigationData:

Collaboration diagram for mitk::NavigationData:

Public Types
typedef mitk::Point3D	PositionType
	Type that holds the position part of the tracking data. More...

typedef mitk::Quaternion	OrientationType
	Type that holds the orientation part of the tracking data. More...

typedef itk::Matrix< mitk::ScalarType, 6, 6 >	CovarianceMatrixType
	type that holds the error characterization of the position and orientation measurements More...

typedef double	TimeStampType
	type that holds the time at which the data was recorded More...

Public Member Functions
	mitkClassMacroItkParent (NavigationData, itk::DataObject)

Pointer	Clone () const

	mitkNewMacro2Param (Self, mitk::AffineTransform3D::Pointer, const bool)

	mitkNewMacro1Param (Self, mitk::AffineTransform3D::Pointer)

virtual void	SetPosition (PositionType _arg)
	sets the position of the NavigationData object More...

virtual PositionType	GetPosition () const
	returns position of the NavigationData object More...

virtual void	SetOrientation (OrientationType _arg)
	sets the orientation of the NavigationData object More...

virtual OrientationType	GetOrientation () const
	returns the orientation of the NavigationData object More...

virtual bool	IsDataValid () const
	returns true if the object contains valid data More...

virtual void	SetDataValid (bool _arg)
	sets the dataValid flag of the NavigationData object indicating if the object contains valid data More...

virtual void	SetIGTTimeStamp (TimeStampType _arg)
	sets the IGT timestamp of the NavigationData object More...

virtual TimeStampType	GetIGTTimeStamp () const
	gets the IGT timestamp of the NavigationData object More...

virtual void	SetHasPosition (bool _arg)
	sets the HasPosition flag of the NavigationData object More...

virtual bool	GetHasPosition () const
	gets the HasPosition flag of the NavigationData object More...

virtual void	SetHasOrientation (bool _arg)
	sets the HasOrientation flag of the NavigationData object More...

virtual bool	GetHasOrientation () const
	gets the HasOrientation flag of the NavigationData object More...

virtual void	SetCovErrorMatrix (CovarianceMatrixType _arg)
	sets the 6x6 Error Covariance Matrix of the NavigationData object More...

virtual CovarianceMatrixType	GetCovErrorMatrix () const
	gets the 6x6 Error Covariance Matrix of the NavigationData object More...

virtual void	SetName (const char *_arg)
	set the name of the NavigationData object More...

virtual const char *	GetName () const
	returns the name of the NavigationData object More...

virtual void	Graft (const DataObject *data) override
	Graft the data and information from one NavigationData to another. More...

virtual void	CopyInformation (const DataObject *data) override
	copy meta data of a NavigationData object More...

void	PrintSelf (std::ostream &os, itk::Indent indent) const override
	Prints the object information to the given stream os. More...

void	SetPositionAccuracy (mitk::ScalarType error)

void	SetOrientationAccuracy (mitk::ScalarType error)

mitk::AffineTransform3D::Pointer	GetAffineTransform3D () const
	Calculate AffineTransform3D from the transformation held by this NavigationData. TODO: should throw an error if transformation is invalid. More...

mitk::Matrix3D	GetRotationMatrix () const
	Calculate the RotationMatrix of this transformation. More...

mitk::Point3D	TransformPoint (const mitk::Point3D point) const
	Transform by an affine transformation. More...

mitk::NavigationData::Pointer	GetInverse () const

void	Compose (const mitk::NavigationData::Pointer n, const bool pre=false)

Static Public Member Functions
static Pointer	New ()

Protected Member Functions
	mitkCloneMacro (Self)

	NavigationData ()

	NavigationData (const mitk::NavigationData &toCopy)

	NavigationData (mitk::AffineTransform3D::Pointer affineTransform3D, const bool checkForRotationMatrix=true)

virtual	~NavigationData ()

Protected Attributes
PositionType	m_Position
	holds the position part of the tracking data More...

OrientationType	m_Orientation
	holds the orientation part of the tracking data More...

CovarianceMatrixType	m_CovErrorMatrix
	A 6x6 covariance matrix parameterizing the Gaussian error distribution of the measured position and orientation. More...

bool	m_HasPosition
	defines if position part of m_CovErrorMatrix is valid More...

bool	m_HasOrientation
	defines if orientation part of m_CovErrorMatrix is valid More...

bool	m_DataValid
	defines if the object contains valid values More...

TimeStampType	m_IGTTimeStamp
	contains the time at which the tracking data was recorded More...

std::string	m_Name
	name of the navigation data More...

Detailed Description

Navigation Data.

Documentation This class represents the data object that is passed through the MITK-IGT navigation filter pipeline. It encapsulates position and orientation of a tracked tool/sensor. Additionally, it contains a data structure that contains error/plausibility information

It provides methods to work with the affine transformation represented by its orientation and position. Additionally, it provides a constructor to construct a NavigationData object from an AffineTransform3D and a getter to create an AffineTransform3D from a NavigationData object.

Definition at line 40 of file mitkNavigationData.h.

Member Typedef Documentation

typedef itk::Matrix<mitk::ScalarType,6,6> mitk::NavigationData::CovarianceMatrixType

type that holds the error characterization of the position and orientation measurements

Definition at line 60 of file mitkNavigationData.h.

typedef mitk::Quaternion mitk::NavigationData::OrientationType

Type that holds the orientation part of the tracking data.

Definition at line 56 of file mitkNavigationData.h.

typedef mitk::Point3D mitk::NavigationData::PositionType

Type that holds the position part of the tracking data.

Definition at line 52 of file mitkNavigationData.h.

typedef double mitk::NavigationData::TimeStampType

type that holds the time at which the data was recorded

Definition at line 64 of file mitkNavigationData.h.

Constructor & Destructor Documentation

mitk::NavigationData::NavigationData ( )

protected

Definition at line 21 of file mitkNavigationData.cpp.

References m_CovErrorMatrix, and m_Position.

mitk::NavigationData::NavigationData ( const mitk::NavigationData & toCopy )

protected

Definition at line 31 of file mitkNavigationData.cpp.

mitk::NavigationData::NavigationData	(	mitk::AffineTransform3D::Pointer	affineTransform3D,
		const bool	checkForRotationMatrix = `true`
	)

protected

Creates a NavigationData object from an affineTransform3D. Caution: NavigationData doesn't support spacing, only translation and rotation. If the affine transform includes spacing it cannot be converted to a NavigationData and an exception is thrown.

Parameters

checkForRotationMatrix if this is true, the rotation matrix coming from the affineTransform is checked for being a rotation matrix. If it isn't, an exception is thrown. Disable this check by setting checkForRotationMatrix to false.

Exceptions

mitkException if checkForRotationMatrix is true and a non rotation matrix was introduced by AffineTransform.

Definition at line 161 of file mitkNavigationData.cpp.

References mitk::Equal(), m_Orientation, m_Position, mitkThrow, and offset.

mitk::NavigationData::~NavigationData ( )

protectedvirtual

Definition at line 37 of file mitkNavigationData.cpp.

Member Function Documentation

Pointer mitk::NavigationData::Clone ( ) const

void mitk::NavigationData::Compose	(	const mitk::NavigationData::Pointer	n,
		const bool	pre = `false`
	)

Compose with another NavigationData

This method composes self with another NavigationData of the same dimension, modifying self to be the composition of self and other. If the argument pre is true, then other is precomposed with self; that is, the resulting transformation consists of first applying other to the source, followed by self. If pre is false or omitted, then other is post-composed with self; that is the resulting transformation consists of first applying self to the source, followed by other.

Definition at line 150 of file mitkNavigationData.cpp.

void mitk::NavigationData::CopyInformation ( const DataObject * data )

overridevirtual

copy meta data of a NavigationData object

copies all meta data from NavigationData data to this object

Definition at line 96 of file mitkNavigationData.cpp.

mitk::AffineTransform3D::Pointer mitk::NavigationData::GetAffineTransform3D ( ) const

Calculate AffineTransform3D from the transformation held by this NavigationData. TODO: should throw an error if transformation is invalid.

Definition at line 193 of file mitkNavigationData.cpp.

References mitk::New().

Referenced by mitk::NavigationDataToIGTLMessageFilter::GenerateDataModeSendTDataMsg(), and mitk::NavigationDataToIGTLMessageFilter::GenerateDataModeSendTransMsg().

virtual CovarianceMatrixType mitk::NavigationData::GetCovErrorMatrix ( ) const

virtual

gets the 6x6 Error Covariance Matrix of the NavigationData object

Referenced by mitk::Equal(), mitk::NavigationDataToMessageFilter::GenerateData(), and mitk::NavigationDataRecorderDeprecated::Update().

virtual bool mitk::NavigationData::GetHasOrientation ( ) const

virtual

gets the HasOrientation flag of the NavigationData object

Referenced by mitk::NavigationDataRecorderDeprecated::Update().

virtual bool mitk::NavigationData::GetHasPosition ( ) const

virtual

gets the HasPosition flag of the NavigationData object

Referenced by mitk::NavigationDataRecorderDeprecated::Update().

virtual TimeStampType mitk::NavigationData::GetIGTTimeStamp ( ) const

virtual

gets the IGT timestamp of the NavigationData object

Referenced by mitk::Equal(), mitk::NavigationDataToMessageFilter::GenerateData(), mitk::TrackingDeviceSource::GenerateData(), and mitk::NavigationDataToPointSetFilter::GenerateDataMode3DMean().

mitk::NavigationData::Pointer mitk::NavigationData::GetInverse ( ) const

Get inverse of the Transformation represented by this NavigationData.

Exceptions

mitk::Exception in case the transformation is invalid (only case: quaternion is zero)

Definition at line 250 of file mitkNavigationData.cpp.

References mitk::Clone(), mitk::Equal(), and mitkThrow.

virtual const char* mitk::NavigationData::GetName ( ) const

virtual

returns the name of the NavigationData object

Referenced by QmitkToolDistanceWidget::CreateToolDistanceMatrix(), mitk::Equal(), mitk::NavigationDataToIGTLMessageFilter::GenerateDataModeSendQTDataMsg(), mitk::NavigationDataToIGTLMessageFilter::GenerateDataModeSendQTransMsg(), mitk::NavigationDataToIGTLMessageFilter::GenerateDataModeSendTDataMsg(), mitk::NavigationDataToIGTLMessageFilter::GenerateDataModeSendTransMsg(), and QmitkToolTrackingStatusWidget::Refresh().

virtual OrientationType mitk::NavigationData::GetOrientation ( ) const

virtual

returns the orientation of the NavigationData object

virtual PositionType mitk::NavigationData::GetPosition ( ) const

virtual

returns position of the NavigationData object

mitk::Matrix3D mitk::NavigationData::GetRotationMatrix ( ) const

Calculate the RotationMatrix of this transformation.

Definition at line 212 of file mitkNavigationData.cpp.

void mitk::NavigationData::Graft ( const DataObject * data )

overridevirtual

Graft the data and information from one NavigationData to another.

Copies the content of data into this object. This is a convenience method to setup a second NavigationData object with all the meta information of another NavigationData object. Note that this method is different than just using two SmartPointers to the same NavigationData object since separate DataObjects are still maintained.

Definition at line 42 of file mitkNavigationData.cpp.

bool mitk::NavigationData::IsDataValid ( ) const

virtual

returns true if the object contains valid data

Definition at line 77 of file mitkNavigationData.cpp.

mitk::NavigationData::mitkClassMacroItkParent	(	NavigationData	,
		itk::DataObject
	)

mitk::NavigationData::mitkCloneMacro ( Self )

protected

mitk::NavigationData::mitkNewMacro1Param	(	Self	,
		mitk::AffineTransform3D::Pointer
	)

mitk::NavigationData::mitkNewMacro2Param	(	Self	,
		mitk::AffineTransform3D::Pointer	,
		const bool
	)

static Pointer mitk::NavigationData::New ( )

static

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

override

Prints the object information to the given stream os.

Parameters

os	The stream which is used to print the output.
indent	Defines the indentation of the output.

Definition at line 83 of file mitkNavigationData.cpp.

virtual void mitk::NavigationData::SetCovErrorMatrix ( CovarianceMatrixType _arg )

virtual

sets the 6x6 Error Covariance Matrix of the NavigationData object

Referenced by mitk::IGTLMessageToNavigationDataFilter::GenerateQuaternionTrackingDataData().

virtual void mitk::NavigationData::SetDataValid ( bool _arg )

virtual

sets the dataValid flag of the NavigationData object indicating if the object contains valid data

virtual void mitk::NavigationData::SetHasOrientation ( bool _arg )

virtual

sets the HasOrientation flag of the NavigationData object

Referenced by mitk::IGTLMessageToNavigationDataFilter::GenerateQuaternionTrackingDataData().

virtual void mitk::NavigationData::SetHasPosition ( bool _arg )

virtual

sets the HasPosition flag of the NavigationData object

Referenced by mitk::IGTLMessageToNavigationDataFilter::GenerateQuaternionTrackingDataData().

virtual void mitk::NavigationData::SetIGTTimeStamp ( TimeStampType _arg )

virtual

sets the IGT timestamp of the NavigationData object

Referenced by mitk::TrackingDeviceSource::GenerateData(), and mitk::IGTLMessageToNavigationDataFilter::GenerateQuaternionTrackingDataData().

virtual void mitk::NavigationData::SetName ( const char * _arg )

virtual

set the name of the NavigationData object

Referenced by mitk::IGTLMessageToNavigationDataFilter::GenerateQuaternionTrackingDataData().

virtual void mitk::NavigationData::SetOrientation ( OrientationType _arg )

virtual

sets the orientation of the NavigationData object

Referenced by mitk::NavigationDataTransformFilter::GenerateData(), mitk::TrackingDeviceSource::GenerateData(), mitk::NavigationDataLandmarkTransformFilter::GenerateData(), and mitk::IGTLMessageToNavigationDataFilter::GenerateQuaternionTrackingDataData().

void mitk::NavigationData::SetOrientationAccuracy ( mitk::ScalarType error )

Set the orientation part of m_CovErrorMatrix to I*error^2 This means that all orientation variables are assumed to be independent

Definition at line 137 of file mitkNavigationData.cpp.

Referenced by mitk::TrackingDeviceSource::GenerateData().

virtual void mitk::NavigationData::SetPosition ( PositionType _arg )

virtual

sets the position of the NavigationData object

Referenced by mitk::NavigationDataSmoothingFilter::GenerateData(), mitk::NavigationDataDisplacementFilter::GenerateData(), mitk::NavigationDataTransformFilter::GenerateData(), mitk::TrackingDeviceSource::GenerateData(), mitk::NavigationDataLandmarkTransformFilter::GenerateData(), and mitk::IGTLMessageToNavigationDataFilter::GenerateQuaternionTrackingDataData().

void mitk::NavigationData::SetPositionAccuracy ( mitk::ScalarType error )

Set the position part of m_CovErrorMatrix to I*error^2 This means that all position variables are assumed to be independent

Definition at line 123 of file mitkNavigationData.cpp.

Referenced by mitk::TrackingDeviceSource::GenerateData().

mitk::Point3D mitk::NavigationData::TransformPoint ( const mitk::Point3D point ) const

Transform by an affine transformation.

This method applies the affine transform given by self to a given point, returning the transformed point.

Definition at line 227 of file mitkNavigationData.cpp.

Member Data Documentation

CovarianceMatrixType mitk::NavigationData::m_CovErrorMatrix

protected

A 6x6 covariance matrix parameterizing the Gaussian error distribution of the measured position and orientation.

The hasPosition/hasOrientation fields define which entries are valid.holds the error characterization of the position and orientation

Definition at line 247 of file mitkNavigationData.h.

Referenced by NavigationData().

bool mitk::NavigationData::m_DataValid

protected

defines if the object contains valid values

Definition at line 259 of file mitkNavigationData.h.

bool mitk::NavigationData::m_HasOrientation

protected

defines if orientation part of m_CovErrorMatrix is valid

Definition at line 255 of file mitkNavigationData.h.

bool mitk::NavigationData::m_HasPosition

protected

defines if position part of m_CovErrorMatrix is valid

Definition at line 251 of file mitkNavigationData.h.

TimeStampType mitk::NavigationData::m_IGTTimeStamp

protected

contains the time at which the tracking data was recorded

Definition at line 263 of file mitkNavigationData.h.

std::string mitk::NavigationData::m_Name

protected

name of the navigation data

Definition at line 267 of file mitkNavigationData.h.

OrientationType mitk::NavigationData::m_Orientation

protected

holds the orientation part of the tracking data

Definition at line 238 of file mitkNavigationData.h.

Referenced by NavigationData().

PositionType mitk::NavigationData::m_Position

protected

holds the position part of the tracking data

Definition at line 234 of file mitkNavigationData.h.

Referenced by NavigationData().

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

Public Types

Public Member Functions

Static Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation