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

#include <mitkPolhemusTool.h>

Inheritance diagram for mitk::PolhemusTool:

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Collaboration diagram for mitk::PolhemusTool:

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Public Types
enum	DistortionLevel { UNDEFINED, NO_DISTORTION, MINOR_DISTORTION, SIGNIFICANT_DISTORTION }

Public Member Functions
	mitkClassMacro (PolhemusTool, TrackingTool)

virtual void	SetToolPort (int _ToolPort)
	Sets the port of the tool. (e.g. 1 for port "SENS 1" etc.) More...

virtual int	GetToolPort ()
	Sets the port of the tool. (e.g. 1 for port "SENS 1" etc.) More...

void	SetDistortionLevel (const int level)
	Sets the distortion level by mapping the integer value (read from the response frame) to the corresponding enumeration literal. More...

DistortionLevel	GetDistortionLevel () const
	Returns the distortion level. More...

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

	PolhemusTool ()

virtual	~PolhemusTool ()

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

	~TrackingTool () override

Static Protected Member Functions
static Pointer	New ()

Protected Attributes
int	m_ToolPort

DistortionLevel	m_DistortionLevel

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 tool of a Polhemus tracking device. 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 mitkPolhemusTool.h.

Member Enumeration Documentation

◆ DistortionLevel

enum mitk::PolhemusTool::DistortionLevel

Enumerator
UNDEFINED	Distortion level is not determined.
NO_DISTORTION	System operational with a good quality magnetic signal.
MINOR_DISTORTION	System operational with a marginal magnetic signal.
SIGNIFICANT_DISTORTION	System operational with a poor magnetic signal.

Definition at line 35 of file mitkPolhemusTool.h.

Constructor & Destructor Documentation

◆ PolhemusTool()

mitk::PolhemusTool::PolhemusTool ( )

protected

Definition at line 15 of file mitkPolhemusTool.cpp.

◆ ~PolhemusTool()

mitk::PolhemusTool::~PolhemusTool ( void )

protectedvirtual

Definition at line 22 of file mitkPolhemusTool.cpp.

Member Function Documentation

◆ Clone()

Pointer mitk::PolhemusTool::Clone ( ) const

protected

◆ GetDistortionLevel()

mitk::PolhemusTool::DistortionLevel mitk::PolhemusTool::GetDistortionLevel ( ) const

Returns the distortion level.

Returns: The distortion level. UNDEFINED, if distortion level is not determined.

Definition at line 56 of file mitkPolhemusTool.cpp.

References m_DistortionLevel.

◆ GetToolPort()

int mitk::PolhemusTool::GetToolPort ( )

virtual

Sets the port of the tool. (e.g. 1 for port "SENS 1" etc.)

Definition at line 31 of file mitkPolhemusTool.cpp.

References m_ToolPort.

Referenced by QmitkPolhemusTrackerWidget::on_m_AdvancedSettings_clicked().

◆ mitkClassMacro()

mitk::PolhemusTool::mitkClassMacro	(	PolhemusTool	,
		TrackingTool
	)

◆ New()

static Pointer mitk::PolhemusTool::New ( )

staticprotected

Referenced by mitk::PolhemusTrackingDevice::AddTool().

◆ SetDistortionLevel()

void mitk::PolhemusTool::SetDistortionLevel ( const int level )

Sets the distortion level by mapping the integer value (read from the response frame) to the corresponding enumeration literal.

According to the Polhemus Liberty documentation:

0 means system operational with a good quality magnetic signal. No distortion.
1 means system operational with a marginal magnetic signal. Minor distortion.
2 means system operational with a poor magnetic signal. Significant distortion.

Parameters

level The distortion level represented as 0, 1 or 2.

Definition at line 36 of file mitkPolhemusTool.cpp.

References m_DistortionLevel.

◆ SetToolPort()

void mitk::PolhemusTool::SetToolPort ( int _ToolPort )

virtual

Sets the port of the tool. (e.g. 1 for port "SENS 1" etc.)

Definition at line 26 of file mitkPolhemusTool.cpp.

References m_ToolPort.

Member Data Documentation

◆ m_DistortionLevel

DistortionLevel mitk::PolhemusTool::m_DistortionLevel

protected

Definition at line 81 of file mitkPolhemusTool.h.

Referenced by GetDistortionLevel(), and SetDistortionLevel().

◆ m_ToolPort

int mitk::PolhemusTool::m_ToolPort

protected

Definition at line 79 of file mitkPolhemusTool.h.

Referenced by GetToolPort(), and SetToolPort().

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

Public Types

Public Member Functions

Protected Member Functions

Static Protected Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Member Enumeration Documentation

◆ DistortionLevel

Constructor & Destructor Documentation

◆ PolhemusTool()

◆ ~PolhemusTool()

Member Function Documentation

◆ Clone()

◆ GetDistortionLevel()

◆ GetToolPort()

◆ mitkClassMacro()

◆ New()

◆ SetDistortionLevel()

◆ SetToolPort()

Member Data Documentation

◆ m_DistortionLevel

◆ m_ToolPort