mitkPolhemusTrackingDevice.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 mitkPolhemusTrackingDevice_h
#define mitkPolhemusTrackingDevice_h
 
 
#include <vector>
#include <mitkIGTConfig.h>
#include <mitkTrackingDevice.h>
#include <mitkPolhemusTool.h>
#include <thread>
 
namespace mitk
{
  class MITKIGT_EXPORT PolhemusTrackingDevice : public TrackingDevice
  {
  public:
 
    mitkClassMacro(PolhemusTrackingDevice, TrackingDevice);
    itkFactorylessNewMacro(Self);
    itkCloneMacro(Self);
 
    virtual bool StartTracking() override;
 
    virtual bool StopTracking() override;
 
    virtual bool OpenConnection() override;
 
    virtual bool CloseConnection() override;
 
    virtual unsigned int GetToolCount() const override;
 
    TrackingTool* GetTool(unsigned int toolNumber)  const override;
 
 
    mitk::TrackingTool* AddTool(const char* toolName, int toolPort);
 
 
 
    bool IsDeviceInstalled();
 
    virtual bool AutoDetectToolsAvailable();
 
    virtual mitk::NavigationToolStorage::Pointer AutoDetectTools();
 
    void SetHemisphereTrackingEnabled(bool _HemisphereTrackingEnabled);
 
    bool GetHemisphereTrackingEnabled(int _tool);
 
    void ToggleHemisphere(int _tool = -1);
 
    void SetHemisphere(int _tool, mitk::Vector3D _hemisphere);
 
    mitk::Vector3D GetHemisphere(int _tool);
 
    void AdjustHemisphere(int _tool);
 
  protected:
    PolhemusTrackingDevice();
    ~PolhemusTrackingDevice();
 
    bool InternalAddTool(PolhemusTool::Pointer tool);
 
    void TrackTools();
 
    std::vector<PolhemusTool::Pointer> GetAllTools();
 
    PolhemusInterface* GetDevice();
 
    void ThreadStartTracking();
 
    std::vector<PolhemusTool::Pointer> m_AllTools; 
    PolhemusInterface::Pointer m_Device; 
    std::thread m_Thread;
    bool m_HemisphereTrackingEnabled;
  };
}//mitk
#endif