mitkNavigationData.h

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/*===================================================================

The Medical Imaging Interaction Toolkit (MITK)

Copyright (c) German Cancer Research Center,
Division of Medical and Biological Informatics.
All rights reserved.

This software is distributed WITHOUT ANY WARRANTY; without
even the implied warranty of MERCHANTABILITY or FITNESS FOR
A PARTICULAR PURPOSE.

See LICENSE.txt or http://www.mitk.org for details.

===================================================================*/


#ifndef MITKNAVIGATIONDATA_H_HEADER_INCLUDED_
#define MITKNAVIGATIONDATA_H_HEADER_INCLUDED_
#include <itkDataObject.h>
#include <MitkIGTBaseExports.h>
#include <mitkCommon.h>
#include <mitkNumericTypes.h>

namespace mitk {

  class MITKIGTBASE_EXPORT NavigationData : public itk::DataObject
    {
    public:
      mitkClassMacroItkParent(NavigationData, itk::DataObject);
      itkFactorylessNewMacro(Self);
      itkCloneMacro(Self);
      mitkNewMacro2Param(Self, mitk::AffineTransform3D::Pointer, const bool);
      mitkNewMacro1Param(Self, mitk::AffineTransform3D::Pointer);

      typedef mitk::Point3D PositionType;
      typedef mitk::Quaternion OrientationType;
      typedef itk::Matrix<mitk::ScalarType,6,6> CovarianceMatrixType;
      typedef double TimeStampType;

      itkSetMacro(Position, PositionType);
      itkGetConstMacro(Position, PositionType);
      itkSetMacro(Orientation, OrientationType);
      itkGetConstMacro(Orientation, OrientationType);
      virtual bool IsDataValid() const;
      itkSetMacro(DataValid, bool);
      itkSetMacro(IGTTimeStamp, TimeStampType);
      itkGetConstMacro(IGTTimeStamp, TimeStampType);
      itkSetMacro(HasPosition, bool);
      itkGetConstMacro(HasPosition, bool);
      itkSetMacro(HasOrientation, bool);
      itkGetConstMacro(HasOrientation, bool);
      itkSetMacro(CovErrorMatrix, CovarianceMatrixType);
      itkGetConstMacro(CovErrorMatrix, CovarianceMatrixType);
      itkSetStringMacro(Name);
      itkGetStringMacro(Name);

      virtual void Graft(const DataObject *data) override;

      virtual void CopyInformation(const DataObject* data) override;

      void PrintSelf(std::ostream& os, itk::Indent indent) const override;

      void SetPositionAccuracy(mitk::ScalarType error);

      void SetOrientationAccuracy(mitk::ScalarType error);

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

      mitk::Matrix3D GetRotationMatrix() const;

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

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

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

    protected:
      mitkCloneMacro(Self);

      NavigationData();

      /*
       * Copy constructor internally used.
       */
      NavigationData(const mitk::NavigationData& toCopy);

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

      virtual ~NavigationData();

      PositionType m_Position;
      OrientationType m_Orientation;

      CovarianceMatrixType m_CovErrorMatrix;  

      bool m_HasPosition;
      bool m_HasOrientation;
      bool m_DataValid;
      TimeStampType m_IGTTimeStamp;
      std::string m_Name;

    private:

      void ResetCovarianceValidity();

      // pre = false
      static mitk::NavigationData::Pointer getComposition(const mitk::NavigationData::Pointer nd1, const mitk::NavigationData::Pointer nd2);

    };

      MITKIGTBASE_EXPORT bool Equal( const mitk::NavigationData& leftHandSide, const mitk::NavigationData& rightHandSide, ScalarType eps = mitk::eps, bool verbose = false );

} // namespace mitk
#endif /* MITKNAVIGATIONDATA_H_HEADER_INCLUDED_ */