An object of this class represents a MicronTracker 2 tool. A tool has to be added to a tracking device which will then continuously update the tool coordinates. More...

#include <mitkClaronTool.h>

Inheritance diagram for mitk::ClaronTool:

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Collaboration diagram for mitk::ClaronTool:

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Public Member Functions
	mitkClassMacro (ClaronTool, TrackingTool)

bool	LoadFile (const char *filename)
	Loads a tool calibration file. Without this file the tool can not be tracked! More...

bool	LoadFile (std::string filename)
	Loads a tool calibration file. Without this file the tool can not be tracked! More...

std::string	GetFile ()

void	SetToolHandle (claronToolHandle handle)
	Sets the handle of the tool. More...

std::string	GetCalibrationName ()

void	SetCalibrationName (std::string name)
	Sets the calibration name of the tool. Be careful, only use this method if you know what you are doing. If you want to change the tool name use the method setToolName instead! More...

claronToolHandle	GetToolHandle ()

Public Member Functions inherited from mitk::TrackingTool
	mitkClassMacroItkParent (TrackingTool, itk::Object)

Pointer	Clone () const

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

virtual const char *	GetToolName () const
	every tool has a name thatgit can be used to identify it. More...

virtual void	SetToolName (const std::string _arg)
	Sets the name of the tool. More...

virtual void	SetToolName (const char *_arg)
	Sets the name of the tool. More...

Point3D	GetToolTipPosition () const
	returns the tool tip in tool coordinates, which where set by SetToolTip More...

Quaternion	GetToolAxisOrientation () const
	returns the transformation of the tool axis with respect to the MITK-IGT main tool axis (0,0,-1) More...

virtual void	SetToolTipPosition (Point3D toolTipPosition, Quaternion orientation, ScalarType eps=0.0)
	defines a tool tip for this tool in tool coordinates. GetPosition() and GetOrientation() return the data of the tool tip if it is defined. By default no tooltip is defined. More...

virtual bool	IsToolTipSet () const
	returns true if a tool tip is set, false if not More...

virtual void	GetPosition (Point3D &position) const
	returns the current position of the tool as an array of three floats (in the tracking device coordinate system) More...

virtual void	SetPosition (Point3D position)
	sets the position More...

virtual void	GetOrientation (Quaternion &orientation) const
	returns the current orientation of the tool as a quaternion in a mitk::Point4D (in the tracking device coordinate system) More...

virtual void	SetOrientation (Quaternion orientation)
	sets the orientation as a quaternion More...

virtual bool	Enable ()
	enables the tool, so that it will be tracked More...

virtual bool	Disable ()
	disables the tool, so that it will not be tracked anymore More...

virtual bool	IsEnabled () const
	returns whether the tool is enabled or disabled More...

virtual void	SetDataValid (bool isDataValid)
	sets if the tracking data (position & orientation) is valid More...

virtual bool	IsDataValid () const
	returns true if the current position data is valid (no error during tracking, tracking error below threshold, ...) More...

virtual float	GetTrackingError () const
	returns one value that corresponds to the overall tracking error. More...

virtual void	SetTrackingError (float error)
	sets the tracking error More...

virtual const char *	GetErrorMessage () const
	if the data is not valid, ErrorMessage should contain a string explaining why it is invalid (the Set-method should be implemented in subclasses, it should not be accessible by the user) More...

virtual void	SetErrorMessage (const char *_arg)
	sets the error message More...

virtual void	SetIGTTimeStamp (double _arg)
	Sets the IGT timestamp of the tracking tool object (time in milliseconds) More...

virtual double	GetIGTTimeStamp () const
	Gets the IGT timestamp of the tracking tool object (time in milliseconds). Returns 0 if the timestamp was not set. More...

Protected Member Functions
Pointer	Clone () const

	ClaronTool ()

	~ClaronTool () override

Protected Member Functions inherited from mitk::TrackingTool
	TrackingTool ()

	~TrackingTool () override

Static Protected Member Functions
static Pointer	New ()

Protected Attributes
claronToolHandle	m_ToolHandle
	Tool handle variable from tracking device. More...

std::string	m_CalibrationName
	Variable which holds the Tool's calibration name. More...

std::string	m_Filename
	Variable to check filename's format and to get back complete filename. More...

Protected Attributes inherited from mitk::TrackingTool
std::string	m_ToolName
	every tool has a name that can be used to identify it. More...

std::string	m_ErrorMessage
	if a tool is invalid, this member should contain a human readable explanation of why it is invalid More...

double	m_IGTTimeStamp
	contains the time at which the tracking data was recorded More...

itk::FastMutexLock::Pointer	m_MyMutex
	mutex to control concurrent access to the tool More...

Point3D	m_Position
	holds the position of the tool in global tracking coordinates More...

Quaternion	m_Orientation
	holds the orientation of the tool´in global tracking coordinates More...

float	m_TrackingError
	holds the tracking error of the tool More...

bool	m_Enabled
	if true, tool is enabled and should receive tracking updates from the tracking device More...

bool	m_DataValid
	if true, data in m_Position and m_Orientation is valid, e.g. true tracking data More...

Point3D	m_ToolTipPosition
	holds the position of the tool tip in the coordinate system of the tracking sensor More...

Quaternion	m_ToolAxisOrientation
	holds the rotation of the sensor coordinate system such that the z-axis coincides with the main tool axis e.g. obtained by a tool calibration More...

bool	m_ToolTipSet

Additional Inherited Members
Static Public Member Functions inherited from mitk::TrackingTool
static Pointer	New ()

Detailed Description

An object of this class represents a MicronTracker 2 tool. A tool has to be added to a tracking device which will then continuously update the tool coordinates.

Documentation:

Definition at line 29 of file mitkClaronTool.h.

Constructor & Destructor Documentation

◆ ClaronTool()

mitk::ClaronTool::ClaronTool ( )

protected

Definition at line 18 of file mitkClaronTool.cpp.

◆ ~ClaronTool()

mitk::ClaronTool::~ClaronTool ( void )

overrideprotected

Definition at line 22 of file mitkClaronTool.cpp.

Member Function Documentation

◆ Clone()

Pointer mitk::ClaronTool::Clone ( ) const

protected

◆ GetCalibrationName()

std::string mitk::ClaronTool::GetCalibrationName ( )

Returns: Returns the calibration name which is used to identify the tool.

Definition at line 26 of file mitkClaronTool.cpp.

References m_CalibrationName.

◆ GetFile()

std::string mitk::ClaronTool::GetFile ( )

Definition at line 87 of file mitkClaronTool.cpp.

References m_Filename.

◆ GetToolHandle()

mitk::claronToolHandle mitk::ClaronTool::GetToolHandle ( )

Returns: Returns the tool handle of the tool.

Definition at line 97 of file mitkClaronTool.cpp.

References m_ToolHandle.

◆ LoadFile() [1/2]

bool mitk::ClaronTool::LoadFile ( const char * filename )

Loads a tool calibration file. Without this file the tool can not be tracked!

Definition at line 36 of file mitkClaronTool.cpp.

◆ LoadFile() [2/2]

bool mitk::ClaronTool::LoadFile ( std::string filename )

Loads a tool calibration file. Without this file the tool can not be tracked!

Definition at line 48 of file mitkClaronTool.cpp.

References m_CalibrationName, and m_Filename.

◆ mitkClassMacro()

mitk::ClaronTool::mitkClassMacro	(	ClaronTool	,
		TrackingTool
	)

◆ New()

static Pointer mitk::ClaronTool::New ( )

staticprotected

Referenced by mitk::ClaronTrackingDevice::AddTool(), and mitk::ClaronTrackingDevice::DetectTools().

◆ SetCalibrationName()

void mitk::ClaronTool::SetCalibrationName ( std::string name )

Sets the calibration name of the tool. Be careful, only use this method if you know what you are doing. If you want to change the tool name use the method setToolName instead!

Definition at line 31 of file mitkClaronTool.cpp.

References m_CalibrationName.

◆ SetToolHandle()

void mitk::ClaronTool::SetToolHandle ( mitk::claronToolHandle handle )

Sets the handle of the tool.

Parameters

handle The new handle of the tool.

Definition at line 92 of file mitkClaronTool.cpp.

References m_ToolHandle.

Member Data Documentation

◆ m_CalibrationName

std::string mitk::ClaronTool::m_CalibrationName

protected

Variable which holds the Tool's calibration name.

Definition at line 77 of file mitkClaronTool.h.

Referenced by GetCalibrationName(), LoadFile(), and SetCalibrationName().

◆ m_Filename

std::string mitk::ClaronTool::m_Filename

protected

Variable to check filename's format and to get back complete filename.

Definition at line 79 of file mitkClaronTool.h.

Referenced by GetFile(), and LoadFile().

◆ m_ToolHandle

claronToolHandle mitk::ClaronTool::m_ToolHandle

protected

Tool handle variable from tracking device.

Definition at line 75 of file mitkClaronTool.h.

Referenced by GetToolHandle(), and SetToolHandle().

The documentation for this class was generated from the following files:

Public Member Functions

Protected Member Functions

Static Protected Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ ClaronTool()

◆ ~ClaronTool()

Member Function Documentation

◆ Clone()

◆ GetCalibrationName()

◆ GetFile()

◆ GetToolHandle()

◆ LoadFile() [1/2]

◆ LoadFile() [2/2]

◆ mitkClassMacro()

◆ New()

◆ SetCalibrationName()

◆ SetToolHandle()

Member Data Documentation

◆ m_CalibrationName

◆ m_Filename

◆ m_ToolHandle