mitkNavigationData.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 mitkNavigationData_h
#define mitkNavigationData_h
#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);
 
      void Graft(const DataObject *data) override;
 
      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);
 
      ~NavigationData() override;
 
      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