mitkOptitrackTrackingTool.h

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/*============================================================================
 
The Medical Imaging Interaction Toolkit (MITK)
 
Copyright (c) German Cancer Research Center (DKFZ)
All rights reserved.
 
Use of this source code is governed by a 3-clause BSD license that can be
found in the LICENSE file.
 
============================================================================*/
 
#ifndef mitkOptitrackTrackingTool_h
#define mitkOptitrackTrackingTool_h
 
#include <MitkIGTExports.h>
#include "mitkTrackingDevice.h"
#include "mitkTrackingTool.h"
#include "mitkIGTTimeStamp.h"
#include <cstdlib>
#include <cstdio>
#include <ctime>
#include <itksys/SystemTools.hxx>
#include "mitkCommon.h"
#include <mitkTrackingTool.h>
#include <mitkVector.h>
#include "mitkIGTException.h"
 
 
 
#include <mitkOptitrackErrorMessages.h>
 
 
namespace mitk
{
 
  //class OptitrackTrackingDevice;
 
  class MITKIGT_EXPORT OptitrackTrackingTool : public TrackingTool
  {
  public:
    friend class OptitrackTrackingDevice;
    mitkClassMacro(mitk::OptitrackTrackingTool, mitk::TrackingTool);
    itkNewMacro(Self);
 
 
 
    bool SetToolByFileName(std::string nameFile);
 
    int get_IDnext();
 
    bool DeleteTrackable();
 
    using Superclass::SetPosition;
    void SetPosition(mitk::Point3D position, ScalarType eps=0.0);
 
    using Superclass::SetOrientation;
    void SetOrientation(mitk::Quaternion orientation, ScalarType eps=0.0);
 
    void GetPosition(mitk::Point3D& position) const override;
 
    void GetOrientation(mitk::Quaternion& orientation) const override;
 
    bool Enable() override;
 
    bool Disable() override;
 
    bool IsEnabled() const override;
 
    bool IsDataValid() const override;
 
    float GetTrackingError() const override;
 
    void SetTrackingError(float FLEerror) override;
 
    void SetDataValid(bool _arg) override;
 
    void updateTool();
 
    OptitrackTrackingTool();
 
    ~OptitrackTrackingTool() override;
 
    std::string m_fileConfiguration;
 
    int m_ID;
 
    float* m_calibrationPoints;
 
    float* m_pivotPoint;
 
    int m_numMarkers;
 
  float m_FLE;
 
  private:
    OptitrackTrackingTool(const OptitrackTrackingTool&);
    const OptitrackTrackingTool& operator=(const OptitrackTrackingTool&);
 
  };
}
#endif