An object of this class represents the MicronTracker device. You can add tools to this device, then open the connection and start tracking. The tracking device will then continuously update the tool coordinates. More...

#include <mitkOpenIGTLinkTrackingDevice.h>

Inheritance diagram for mitk::OpenIGTLinkTrackingDevice:

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Collaboration diagram for mitk::OpenIGTLinkTrackingDevice:

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Public Member Functions
	mitkClassMacro (OpenIGTLinkTrackingDevice, TrackingDevice)

Pointer	Clone () const

void	SetPortNumber (int portNumber)

void	SetHostname (std::string hostname)

int	GetPortNumber ()

std::string	GetHostname ()

bool	StartTracking () override
	Starts the tracking. More...

bool	StopTracking () override
	Stops the tracking. More...

bool	OpenConnection () override
	Opens the connection to the device. This have to be done before the tracking is started. More...

bool	CloseConnection () override
	Closes the connection and clears all resources. More...

unsigned int	GetToolCount () const override

TrackingTool *	GetTool (unsigned int toolNumber) const override

bool	DiscoverTools (int WaitingTime=10000)
	Discover the tools available from the connected OpenIGTLink device and adds these tools to this tracking device. Therefore, a connection is opened, the tools are discovered and added. More...

mitk::TrackingTool *	AddTool (const char toolName, const char fileName)
	Create a new OpenIGTLink tool with toolName and fileName and add it to the list of tools. More...

bool	AutoDetectToolsAvailable () override

mitk::NavigationToolStorage::Pointer	AutoDetectTools () override

bool	IsDeviceInstalled () override

virtual void	SetUpdateRate (int _arg)

virtual int	GetUpdateRate () const
	Sets the update rate of the device in fps. Default value is 60 fps. More...

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

virtual mitk::TrackingTool *	GetToolByName (std::string name) const
	Returns the tool with the given tool name. 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	AddSingleToolIsAvailable ()

Static Public Member Functions
static Pointer	New ()

Protected Member Functions
	OpenIGTLinkTrackingDevice ()
	Returns the update rate of the device in fps. More...

	~OpenIGTLinkTrackingDevice () override

bool	InternalAddTool (OpenIGTLinkTrackingTool::Pointer tool)
	Adds a tool to the tracking device. More...

void	UpdateTools ()

mitk::IGTLMessage::Pointer	ReceiveMessage (int waitingTime)

std::vector< OpenIGTLinkTrackingTool::Pointer >	GetAllTools ()

Protected Member Functions inherited from mitk::TrackingDevice
void	SetState (TrackingDeviceState state)
	change object state More...

	TrackingDevice ()

	~TrackingDevice () override

Protected Attributes
unsigned long	m_MessageReceivedObserverTag

mitk::IGTLClient::Pointer	m_OpenIGTLinkClient

mitk::IGTLTrackingDataDeviceSource::Pointer	m_IGTLDeviceSource

mitk::IGTLMessageToNavigationDataFilter::Pointer	m_IGTLMsgToNavDataFilter

std::vector< OpenIGTLinkTrackingTool::Pointer >	m_AllTools
	vector holding all tools More...

int	m_UpdateRate
	holds the update rate in FPS (will be set automatically when the OpenIGTLink connection is established) More...

Protected Attributes inherited from mitk::TrackingDevice
TrackingDeviceData	m_Data
	current device Data More...

bool	m_StopTracking
	signal stop to tracking thread More...

itk::FastMutexLock::Pointer	m_StopTrackingMutex
	mutex to control access to m_StopTracking More...

itk::FastMutexLock::Pointer	m_TrackingFinishedMutex
	mutex to manage control flow of StopTracking() More...

itk::FastMutexLock::Pointer	m_StateMutex
	mutex to control access to m_State More...

RotationMode	m_RotationMode
	defines the rotation mode Standard or Transposed, Standard is default More...

Additional Inherited Members
Public Types inherited from mitk::TrackingDevice
enum	RotationMode { RotationStandard, RotationTransposed }

enum	TrackingDeviceState { Setup, Ready, Tracking }

Detailed Description

An object of this class represents the MicronTracker device. You can add tools to this device, then open the connection and start tracking. The tracking device will then continuously update the tool coordinates.

Documentation:

Definition at line 36 of file mitkOpenIGTLinkTrackingDevice.h.

Constructor & Destructor Documentation

◆ OpenIGTLinkTrackingDevice()

mitk::OpenIGTLinkTrackingDevice::OpenIGTLinkTrackingDevice ( )

protected

Returns the update rate of the device in fps.

Definition at line 32 of file mitkOpenIGTLinkTrackingDevice.cpp.

References mitk::OpenIGTLinkTypeInformation::GetDeviceDataOpenIGTLinkTrackingDeviceConnection(), mitk::TrackingDevice::m_Data, m_IGTLDeviceSource, m_OpenIGTLinkClient, and mitk::IGTLTrackingDataDeviceSource::New().

◆ ~OpenIGTLinkTrackingDevice()

mitk::OpenIGTLinkTrackingDevice::~OpenIGTLinkTrackingDevice ( )

overrideprotected

Definition at line 45 of file mitkOpenIGTLinkTrackingDevice.cpp.

Member Function Documentation

◆ AddTool()

mitk::TrackingTool * mitk::OpenIGTLinkTrackingDevice::AddTool	(	const char *	toolName,
		const char *	fileName
	)

Create a new OpenIGTLink tool with toolName and fileName and add it to the list of tools.

Note that tools are usually provided by the OpenIGTLink connection. In most cases, the method DiscoverTools() should be used instead which automatically finds the provided tools. If you use this method to manually add tools be sure that you add the same number and type of tools that are provided by the connected device. Otherwise problems might occur when you try to start tracking.

Definition at line 213 of file mitkOpenIGTLinkTrackingDevice.cpp.

References InternalAddTool().

◆ AutoDetectTools()

mitk::NavigationToolStorage::Pointer mitk::OpenIGTLinkTrackingDevice::AutoDetectTools ( )

overridevirtual

Autodetects tools from the current OpenIGTLink connection and returns them as a navigation tool storage.

Returns: Returns the detected tools. Returns an empty storage if no tools are present or if OpenIGTLink Connection is not possible

Reimplemented from mitk::TrackingDevice.

Definition at line 59 of file mitkOpenIGTLinkTrackingDevice.cpp.

References k(), m_IGTLDeviceSource, m_OpenIGTLinkClient, MITK_INFO, MITK_WARN, mitk::NavigationToolStorage::New(), mitk::IGTLTrackingDataDeviceSource::QTDATA, ReceiveMessage(), mitk::IGTLTrackingDataDeviceSource::TDATA, mitk::IGTLTrackingDataDeviceSource::TRANSFORM, and mitk::IGTLTrackingDataDeviceSource::UNKNOWN.

◆ AutoDetectToolsAvailable()

bool mitk::OpenIGTLinkTrackingDevice::AutoDetectToolsAvailable ( )

overridevirtual

Returns: Returns true if this device can autodetects its tools.

Reimplemented from mitk::TrackingDevice.

Definition at line 54 of file mitkOpenIGTLinkTrackingDevice.cpp.

◆ Clone()

Pointer mitk::OpenIGTLinkTrackingDevice::Clone ( ) const

◆ CloseConnection()

bool mitk::OpenIGTLinkTrackingDevice::CloseConnection ( )

overridevirtual

Closes the connection and clears all resources.

Implements mitk::TrackingDevice.

Definition at line 457 of file mitkOpenIGTLinkTrackingDevice.cpp.

References mitk::TrackingDevice::GetState(), m_IGTLDeviceSource, MITK_WARN, mitk::TrackingDevice::Ready, mitk::TrackingDevice::SetState(), and mitk::TrackingDevice::Setup.

◆ DiscoverTools()

bool mitk::OpenIGTLinkTrackingDevice::DiscoverTools ( int WaitingTime = 10000 )

Discover the tools available from the connected OpenIGTLink device and adds these tools to this tracking device. Therefore, a connection is opened, the tools are discovered and added.

Parameters

WaitingTime Defines how long the method waits for an answer from the server (in milliseconds). Default value is 10000 (10 seconds).

Returns: Returns true if the connection was established and the tools were discovered successfully and - if at least one tool was found - were added to this device. Retruns false if no valid connection is available.

Definition at line 228 of file mitkOpenIGTLinkTrackingDevice.cpp.

References m_IGTLDeviceSource, m_OpenIGTLinkClient, MITK_INFO, MITK_WARN, and ReceiveMessage().

Referenced by mitk::OpenIGTLinkTypeInformation::CreateTrackingDeviceSource().

◆ GetAllTools()

std::vector< mitk::OpenIGTLinkTrackingTool::Pointer > mitk::OpenIGTLinkTrackingDevice::GetAllTools ( )

protected

Returns: Returns all tools of the tracking device.

Definition at line 481 of file mitkOpenIGTLinkTrackingDevice.cpp.

References m_AllTools.

◆ GetHostname()

std::string mitk::OpenIGTLinkTrackingDevice::GetHostname ( )

Definition at line 193 of file mitkOpenIGTLinkTrackingDevice.cpp.

References m_OpenIGTLinkClient.

◆ GetPortNumber()

int mitk::OpenIGTLinkTrackingDevice::GetPortNumber ( )

Definition at line 49 of file mitkOpenIGTLinkTrackingDevice.cpp.

References m_OpenIGTLinkClient.

◆ GetTool()

mitk::TrackingTool * mitk::OpenIGTLinkTrackingDevice::GetTool ( unsigned int toolNumber ) const

overridevirtual

Parameters

toolNumber The number of the tool which should be given back.

Returns: Returns the tool which the number "toolNumber". Returns nullptr, if there is no tool with this number.

Implements mitk::TrackingDevice.

Definition at line 427 of file mitkOpenIGTLinkTrackingDevice.cpp.

References GetToolCount(), and m_AllTools.

◆ GetToolCount()

unsigned int mitk::OpenIGTLinkTrackingDevice::GetToolCount ( ) const

overridevirtual

Returns: Returns the number of tools which have been added to the device.

Implements mitk::TrackingDevice.

Definition at line 422 of file mitkOpenIGTLinkTrackingDevice.cpp.

References m_AllTools.

Referenced by GetTool(), and StartTracking().

◆ GetUpdateRate()

virtual int mitk::OpenIGTLinkTrackingDevice::GetUpdateRate ( ) const

virtual

Sets the update rate of the device in fps. Default value is 60 fps.

◆ InternalAddTool()

bool mitk::OpenIGTLinkTrackingDevice::InternalAddTool ( OpenIGTLinkTrackingTool::Pointer tool )

protected

Adds a tool to the tracking device.

Parameters

tool	The tool which will be added.

Returns: Returns true if the tool has been added, false otherwise.

Definition at line 222 of file mitkOpenIGTLinkTrackingDevice.cpp.

References m_AllTools.

Referenced by AddTool(), and ReceiveMessage().

◆ IsDeviceInstalled()

bool mitk::OpenIGTLinkTrackingDevice::IsDeviceInstalled ( )

overridevirtual

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 from mitk::TrackingDevice.

Definition at line 208 of file mitkOpenIGTLinkTrackingDevice.cpp.

◆ mitkClassMacro()

mitk::OpenIGTLinkTrackingDevice::mitkClassMacro	(	OpenIGTLinkTrackingDevice	,
		TrackingDevice
	)

◆ New()

static Pointer mitk::OpenIGTLinkTrackingDevice::New ( )

static

Referenced by QmitkOpenIGTLinkWidget::GetTrackingDevice().

◆ OpenConnection()

bool mitk::OpenIGTLinkTrackingDevice::OpenConnection ( )

overridevirtual

Opens the connection to the device. This have to be done before the tracking is started.

Exceptions

mitk::IGTHardwareException Throws an exception if there is an error during open connection.

Implements mitk::TrackingDevice.

Definition at line 435 of file mitkOpenIGTLinkTrackingDevice.cpp.

References mitk::TrackingDevice::GetState(), m_IGTLDeviceSource, MITK_WARN, mitk::TrackingDevice::Ready, mitk::TrackingDevice::SetState(), and mitk::TrackingDevice::Setup.

◆ ReceiveMessage()

mitk::IGTLMessage::Pointer mitk::OpenIGTLinkTrackingDevice::ReceiveMessage ( int waitingTime )

protected

Receives one message from the OpenIGTLink connection. Starts the tracking stream if required.

Definition at line 273 of file mitkOpenIGTLinkTrackingDevice.cpp.

References mitk::OpenIGTLinkTypeInformation::GetDeviceDataOpenIGTLinkTrackingDeviceConnection(), InternalAddTool(), m_IGTLDeviceSource, m_OpenIGTLinkClient, m_UpdateRate, MITK_INFO, mitk::OpenIGTLinkTrackingTool::New(), mitk::IGTLMessage::New(), and mitk::NavigationTool::New().

Referenced by AutoDetectTools(), and DiscoverTools().

◆ SetHostname()

void mitk::OpenIGTLinkTrackingDevice::SetHostname ( std::string hostname )

Sets the hostname for the Open IGT Link connection. Default value is 127.0.0.1 (localhost).

Definition at line 203 of file mitkOpenIGTLinkTrackingDevice.cpp.

References m_OpenIGTLinkClient.

◆ SetPortNumber()

void mitk::OpenIGTLinkTrackingDevice::SetPortNumber ( int portNumber )

Sets the port number for the Open IGT Link connection. Default value is -1 (invalid).

Definition at line 198 of file mitkOpenIGTLinkTrackingDevice.cpp.

References m_OpenIGTLinkClient.

◆ SetUpdateRate()

virtual void mitk::OpenIGTLinkTrackingDevice::SetUpdateRate ( int _arg )

virtual

◆ StartTracking()

bool mitk::OpenIGTLinkTrackingDevice::StartTracking ( )

overridevirtual

Starts the tracking.

Returns: Returns true if the tracking is started. Throws an exception if an error occures.

Exceptions

mitk::IGTHardwareException Throws an exception if there is an error during start tracking.

Implements mitk::TrackingDevice.

Definition at line 357 of file mitkOpenIGTLinkTrackingDevice.cpp.

References mitk::TrackingDevice::GetState(), GetToolCount(), m_IGTLDeviceSource, m_IGTLMsgToNavDataFilter, m_MessageReceivedObserverTag, m_OpenIGTLinkClient, MITK_WARN, mitk::IGTLMessageToNavigationDataFilter::New(), mitk::TrackingDevice::Ready, mitk::TrackingDevice::SetState(), mitk::TrackingDevice::Tracking, and UpdateTools().

◆ StopTracking()

bool mitk::OpenIGTLinkTrackingDevice::StopTracking ( )

overridevirtual

Stops the tracking.

Returns: Returns true if the tracking is stopped.

Reimplemented from mitk::TrackingDevice.

Definition at line 397 of file mitkOpenIGTLinkTrackingDevice.cpp.

References mitk::TrackingDevice::GetState(), m_IGTLDeviceSource, m_MessageReceivedObserverTag, m_OpenIGTLinkClient, MITK_WARN, mitk::TrackingDevice::Ready, mitk::TrackingDevice::SetState(), and mitk::TrackingDevice::Tracking.

◆ UpdateTools()

void mitk::OpenIGTLinkTrackingDevice::UpdateTools ( )

protected

Updates the tools from the open IGT link connection. Is called every time a message received event is invoked.

Definition at line 330 of file mitkOpenIGTLinkTrackingDevice.cpp.

References mitk::TrackingDevice::GetState(), m_AllTools, m_IGTLMsgToNavDataFilter, MITK_ERROR, and mitk::TrackingDevice::Tracking.

Referenced by StartTracking().

Member Data Documentation

◆ m_AllTools

std::vector<OpenIGTLinkTrackingTool::Pointer> mitk::OpenIGTLinkTrackingDevice::m_AllTools

protected

vector holding all tools

Definition at line 154 of file mitkOpenIGTLinkTrackingDevice.h.

Referenced by GetAllTools(), GetTool(), GetToolCount(), InternalAddTool(), and UpdateTools().

◆ m_IGTLDeviceSource

mitk::IGTLTrackingDataDeviceSource::Pointer mitk::OpenIGTLinkTrackingDevice::m_IGTLDeviceSource

protected

Definition at line 151 of file mitkOpenIGTLinkTrackingDevice.h.

Referenced by AutoDetectTools(), CloseConnection(), DiscoverTools(), OpenConnection(), OpenIGTLinkTrackingDevice(), ReceiveMessage(), StartTracking(), and StopTracking().

◆ m_IGTLMsgToNavDataFilter

mitk::IGTLMessageToNavigationDataFilter::Pointer mitk::OpenIGTLinkTrackingDevice::m_IGTLMsgToNavDataFilter

protected

Definition at line 152 of file mitkOpenIGTLinkTrackingDevice.h.

Referenced by StartTracking(), and UpdateTools().

◆ m_MessageReceivedObserverTag

unsigned long mitk::OpenIGTLinkTrackingDevice::m_MessageReceivedObserverTag

protected

Definition at line 136 of file mitkOpenIGTLinkTrackingDevice.h.

Referenced by StartTracking(), and StopTracking().

◆ m_OpenIGTLinkClient

mitk::IGTLClient::Pointer mitk::OpenIGTLinkTrackingDevice::m_OpenIGTLinkClient

protected

Definition at line 148 of file mitkOpenIGTLinkTrackingDevice.h.

Referenced by AutoDetectTools(), DiscoverTools(), GetHostname(), GetPortNumber(), OpenIGTLinkTrackingDevice(), ReceiveMessage(), SetHostname(), SetPortNumber(), StartTracking(), and StopTracking().

◆ m_UpdateRate

int mitk::OpenIGTLinkTrackingDevice::m_UpdateRate

protected

holds the update rate in FPS (will be set automatically when the OpenIGTLink connection is established)

Definition at line 156 of file mitkOpenIGTLinkTrackingDevice.h.

Referenced by ReceiveMessage().

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

Public Member Functions

Static Public Member Functions

Protected Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ OpenIGTLinkTrackingDevice()

◆ ~OpenIGTLinkTrackingDevice()

Member Function Documentation

◆ AddTool()

◆ AutoDetectTools()

◆ AutoDetectToolsAvailable()

◆ Clone()

◆ CloseConnection()

◆ DiscoverTools()

◆ GetAllTools()

◆ GetHostname()

◆ GetPortNumber()

◆ GetTool()

◆ GetToolCount()

◆ GetUpdateRate()

◆ InternalAddTool()

◆ IsDeviceInstalled()

◆ mitkClassMacro()

◆ New()

◆ OpenConnection()

◆ ReceiveMessage()

◆ SetHostname()

◆ SetPortNumber()

◆ SetUpdateRate()

◆ StartTracking()

◆ StopTracking()

◆ UpdateTools()

Member Data Documentation

◆ m_AllTools

◆ m_IGTLDeviceSource

◆ m_IGTLMsgToNavDataFilter

◆ m_MessageReceivedObserverTag

◆ m_OpenIGTLinkClient

◆ m_UpdateRate