Interface for all Tracking Devices. More...
#include <mitkTrackingDevice.h>
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 getData or GetTrackingDeviceName instead. return device type identifier. More... | |
| void | SetType (TrackingDeviceType type) |
| Deprecated! Use the more specific setDeviceData instead. set device type. More... | |
| std::string | GetTrackingDeviceName () |
| Convenient Method to get the Name of the Tracking Device. This is identical with GetData().Line and can be used to compare with TrackingDeviceTypeInformation::GetTrackingDeviceName() to check if you have a specific device. More... | |
| TrackingDeviceData | GetData () const |
| return device data More... | |
| void | SetData (TrackingDeviceData data) |
| set device type More... | |
| virtual bool | IsDeviceInstalled () |
| virtual bool | AutoDetectToolsAvailable () |
| virtual bool | AddSingleToolIsAvailable () |
| virtual mitk::NavigationToolStorage::Pointer | AutoDetectTools () |
Protected Member Functions | |
| void | SetState (TrackingDeviceState state) |
| change object state More... | |
| TrackingDevice () | |
| ~TrackingDevice () override | |
Protected Attributes | |
| TrackingDeviceData | m_Data |
| current device Data More... | |
| bool | m_StopTracking |
| signal stop to tracking thread More... | |
| std::mutex | m_StopTrackingMutex |
| mutex to control access to m_StopTracking More... | |
| std::mutex | m_TrackingFinishedMutex |
| mutex to manage control flow of StopTracking() More... | |
| std::mutex | 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 34 of file mitkTrackingDevice.h.
Member Enumeration Documentation
◆ 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 52 of file mitkTrackingDevice.h.
◆ TrackingDeviceState
| Enumerator | |
|---|---|
| Setup | |
| Ready | |
| Tracking | |
Definition at line 54 of file mitkTrackingDevice.h.
Constructor & Destructor Documentation
◆ TrackingDevice()
|
protected |
◆ ~TrackingDevice()
|
overrideprotected |
Member Function Documentation
◆ AddSingleToolIsAvailable()
|
virtual |
- Returns
- Returns true if it is possible to add a single tool. Default return is true.
Reimplemented in mitk::NDITrackingDevice.
◆ AutoDetectTools()
|
virtual |
Autodetects tools from this device and returns them as a navigation tool storage.
- Returns
- Returns the detected tools. Returns an empty storage if no tools are present or if detection is not possible
Reimplemented in mitk::NDITrackingDevice, mitk::OpenIGTLinkTrackingDevice, and mitk::PolhemusTrackingDevice.
◆ AutoDetectToolsAvailable()
|
virtual |
- Returns
- Returns true if this device can autodetects its tools.
Reimplemented in mitk::NDITrackingDevice, mitk::OpenIGTLinkTrackingDevice, and mitk::PolhemusTrackingDevice.
◆ 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::NDITrackingDevice, mitk::OptitrackTrackingDevice, mitk::VirtualTrackingDevice, mitk::OpenIGTLinkTrackingDevice, mitk::ClaronTrackingDevice, mitk::PolhemusTrackingDevice, and mitk::MicroBirdTrackingDevice.
◆ GetData()
| TrackingDeviceData mitk::TrackingDevice::GetData | ( | ) | const |
return device data
◆ GetRotationMode()
|
virtual |
- Returns
- Returns the rotation mode of this class. See documentation of enum RotationMode for details on the different modes.
◆ GetState()
| TrackingDeviceState mitk::TrackingDevice::GetState | ( | ) | const |
return current object state (Setup, Ready or Tracking)
◆ GetTool()
|
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, mitk::ClaronTrackingDevice, and mitk::PolhemusTrackingDevice.
◆ GetToolByName()
|
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 nullptr if no tool with that name exists
Reimplemented in mitk::NDITrackingDevice.
◆ GetToolCount()
|
pure virtual |
Returns number of tracking tools.
Implemented in mitk::NDITrackingDevice, mitk::OptitrackTrackingDevice, mitk::VirtualTrackingDevice, mitk::OpenIGTLinkTrackingDevice, mitk::ClaronTrackingDevice, mitk::PolhemusTrackingDevice, and mitk::MicroBirdTrackingDevice.
◆ GetTrackingDeviceName()
| std::string mitk::TrackingDevice::GetTrackingDeviceName | ( | ) |
Convenient Method to get the Name of the Tracking Device. This is identical with GetData().Line and can be used to compare with TrackingDeviceTypeInformation::GetTrackingDeviceName() to check if you have a specific device.
◆ GetType()
| TrackingDeviceType mitk::TrackingDevice::GetType | ( | ) | const |
Deprecated! Use the more specific getData or GetTrackingDeviceName instead. return device type identifier.
◆ 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, mitk::ClaronTrackingDevice, and mitk::PolhemusTrackingDevice.
◆ mitkClassMacroItkParent()
| mitk::TrackingDevice::mitkClassMacroItkParent | ( | TrackingDevice | , |
| itk::Object | |||
| ) |
◆ 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::NDITrackingDevice, mitk::VirtualTrackingDevice, mitk::OptitrackTrackingDevice, mitk::OpenIGTLinkTrackingDevice, mitk::ClaronTrackingDevice, mitk::PolhemusTrackingDevice, and mitk::MicroBirdTrackingDevice.
◆ SetData()
| void mitk::TrackingDevice::SetData | ( | TrackingDeviceData | data | ) |
set device type
◆ SetRotationMode()
|
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.
◆ SetState()
|
protected |
change object state
◆ SetType()
| void mitk::TrackingDevice::SetType | ( | TrackingDeviceType | type | ) |
Deprecated! Use the more specific setDeviceData instead. set device type.
◆ 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::VirtualTrackingDevice, mitk::OpenIGTLinkTrackingDevice, mitk::ClaronTrackingDevice, mitk::PolhemusTrackingDevice, and mitk::MicroBirdTrackingDevice.
◆ 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::OpenIGTLinkTrackingDevice, mitk::ClaronTrackingDevice, mitk::PolhemusTrackingDevice, and mitk::MicroBirdTrackingDevice.
Member Data Documentation
◆ m_Data
|
protected |
current device Data
Definition at line 194 of file mitkTrackingDevice.h.
◆ m_RotationMode
|
protected |
defines the rotation mode Standard or Transposed, Standard is default
Definition at line 200 of file mitkTrackingDevice.h.
◆ m_StateMutex
|
mutableprotected |
mutex to control access to m_State
Definition at line 199 of file mitkTrackingDevice.h.
◆ m_StopTracking
|
protected |
signal stop to tracking thread
Definition at line 196 of file mitkTrackingDevice.h.
◆ m_StopTrackingMutex
|
protected |
mutex to control access to m_StopTracking
Definition at line 197 of file mitkTrackingDevice.h.
◆ m_TrackingFinishedMutex
|
protected |
mutex to manage control flow of StopTracking()
Definition at line 198 of file mitkTrackingDevice.h.
The documentation for this class was generated from the following file:
