Interface for all Tracking Tools. More...

#include <mitkTrackingTool.h>

Inheritance diagram for mitk::TrackingTool:

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Collaboration diagram for mitk::TrackingTool:

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Public Member Functions
	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...

Static Public Member Functions
static Pointer	New ()

Protected Member Functions
	TrackingTool ()

	~TrackingTool () override

Protected Attributes
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

Detailed Description

Interface for all Tracking Tools.

Documentation This class is a complete TrackingTool implementation. It can either be used directly by TrackingDevices, or be subclassed for more specific implementations. mitk::MicroBirdTrackingDevice uses this class to manage its tools. Other tracking devices uses specialized versions of this class (e.g. mitk::NDITrackingTool)

The TrackingTool class holds all coordinate transforms associated with tracking of a tool. The sensor attached to the tool is localized in the global tracking coordinate system (m_Position, m_Orientation). A tool tip (m_ToolTipPosition) can be defined in sensor coordinates. The tool axis defines the main axis of the tool and is defined as the negative z-axis of the tool tip coordinate system The main axis of the representation object of the tool (e.g. a surface) has to be defined along the negative z-axis

Coordinate transforms associated to the tracking tool.

Definition at line 42 of file mitkTrackingTool.h.

Constructor & Destructor Documentation

◆ TrackingTool()

mitk::TrackingTool::TrackingTool ( )

protected

Definition at line 18 of file mitkTrackingTool.cpp.

References m_Orientation, m_Position, m_ToolAxisOrientation, and m_ToolTipPosition.

◆ ~TrackingTool()

mitk::TrackingTool::~TrackingTool ( )

overrideprotected

Definition at line 46 of file mitkTrackingTool.cpp.

References m_MyMutex.

Member Function Documentation

◆ Clone()

Pointer mitk::TrackingTool::Clone ( ) const

◆ Disable()

bool mitk::TrackingTool::Disable ( )

virtual

disables the tool, so that it will not be tracked anymore

Reimplemented in mitk::OptitrackTrackingTool.

Definition at line 220 of file mitkTrackingTool.cpp.

References m_Enabled, and m_MyMutex.

◆ Enable()

bool mitk::TrackingTool::Enable ( )

virtual

enables the tool, so that it will be tracked

Reimplemented in mitk::OptitrackTrackingTool.

Definition at line 209 of file mitkTrackingTool.cpp.

References m_Enabled, and m_MyMutex.

◆ GetErrorMessage()

const char * mitk::TrackingTool::GetErrorMessage ( ) const

virtual

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)

Definition at line 271 of file mitkTrackingTool.cpp.

References m_ErrorMessage, and m_MyMutex.

◆ GetIGTTimeStamp()

virtual double mitk::TrackingTool::GetIGTTimeStamp ( ) const

virtual

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

Referenced by mitk::TrackingDeviceSource::GenerateData().

◆ GetOrientation()

void mitk::TrackingTool::GetOrientation ( mitk::Quaternion & orientation ) const

virtual

returns the current orientation of the tool as a quaternion in a mitk::Point4D (in the tracking device coordinate system)

Reimplemented in mitk::OptitrackTrackingTool.

Definition at line 179 of file mitkTrackingTool.cpp.

References m_MyMutex, m_Orientation, m_ToolAxisOrientation, and m_ToolTipSet.

Referenced by mitk::TrackingDeviceSource::GenerateData().

◆ GetPosition()

void mitk::TrackingTool::GetPosition ( mitk::Point3D & position ) const

virtual

returns the current position of the tool as an array of three floats (in the tracking device coordinate system)

Reimplemented in mitk::OptitrackTrackingTool.

Definition at line 143 of file mitkTrackingTool.cpp.

References m_MyMutex, m_Orientation, m_Position, m_ToolTipPosition, and m_ToolTipSet.

Referenced by mitk::TrackingDeviceSource::GenerateData().

◆ GetToolAxisOrientation()

mitk::Quaternion mitk::TrackingTool::GetToolAxisOrientation ( ) const

returns the transformation of the tool axis with respect to the MITK-IGT main tool axis (0,0,-1)

Definition at line 104 of file mitkTrackingTool.cpp.

References m_MyMutex, and m_ToolAxisOrientation.

Referenced by QmitkPolhemusTrackerWidget::on_m_ToggleToolTipCalibration_clicked().

◆ GetToolName()

const char * mitk::TrackingTool::GetToolName ( ) const

virtual

every tool has a name thatgit can be used to identify it.

Definition at line 67 of file mitkTrackingTool.cpp.

References m_MyMutex, and m_ToolName.

Referenced by QmitkNDIConfigurationWidget::GenerateNavigationTool(), QmitkNDIConfigurationWidget::GetToolNamesList(), mitk::NDITrackingDevice::InitializeWiredTools(), and QmitkNDIConfigurationWidget::UpdateToolTable().

◆ GetToolTipPosition()

mitk::Point3D mitk::TrackingTool::GetToolTipPosition ( ) const

returns the tool tip in tool coordinates, which where set by SetToolTip

Definition at line 98 of file mitkTrackingTool.cpp.

References m_MyMutex, and m_ToolTipPosition.

Referenced by QmitkPolhemusTrackerWidget::on_m_ToggleToolTipCalibration_clicked().

◆ GetTrackingError()

float mitk::TrackingTool::GetTrackingError ( ) const

virtual

returns one value that corresponds to the overall tracking error.

Reimplemented in mitk::OptitrackTrackingTool.

Definition at line 254 of file mitkTrackingTool.cpp.

References m_MyMutex, and m_TrackingError.

Referenced by mitk::TrackingDeviceSource::GenerateData().

◆ IsDataValid()

bool mitk::TrackingTool::IsDataValid ( ) const

virtual

returns true if the current position data is valid (no error during tracking, tracking error below threshold, ...)

Reimplemented in mitk::OptitrackTrackingTool.

Definition at line 248 of file mitkTrackingTool.cpp.

References m_DataValid, and m_MyMutex.

Referenced by mitk::TrackingDeviceSource::GenerateData().

◆ IsEnabled()

bool mitk::TrackingTool::IsEnabled ( ) const

virtual

returns whether the tool is enabled or disabled

Reimplemented in mitk::OptitrackTrackingTool.

Definition at line 231 of file mitkTrackingTool.cpp.

References m_Enabled, and m_MyMutex.

Referenced by mitk::TrackingDeviceSource::GenerateData(), mitk::NDITrackingDevice::InitializeWiredTools(), and QmitkNDIConfigurationWidget::UpdateToolTable().

◆ IsToolTipSet()

bool mitk::TrackingTool::IsToolTipSet ( ) const

virtual

returns true if a tool tip is set, false if not

Definition at line 137 of file mitkTrackingTool.cpp.

References m_MyMutex, and m_ToolTipSet.

◆ mitkClassMacroItkParent()

mitk::TrackingTool::mitkClassMacroItkParent	(	TrackingTool	,
		itk::Object
	)

◆ New()

static Pointer mitk::TrackingTool::New ( )

static

Referenced by mitk::MicroBirdTrackingDevice::OpenConnection().

◆ PrintSelf()

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

override

Definition at line 52 of file mitkTrackingTool.cpp.

References m_DataValid, m_Enabled, m_ErrorMessage, m_Orientation, m_Position, m_ToolAxisOrientation, m_ToolName, m_ToolTipPosition, m_ToolTipSet, and m_TrackingError.

◆ SetDataValid()

void mitk::TrackingTool::SetDataValid ( bool isDataValid )

virtual

sets if the tracking data (position & orientation) is valid

Reimplemented in mitk::OptitrackTrackingTool.

Definition at line 237 of file mitkTrackingTool.cpp.

References m_DataValid, and m_MyMutex.

Referenced by mitk::MicroBirdTrackingDevice::TrackTools().

◆ SetErrorMessage()

void mitk::TrackingTool::SetErrorMessage ( const char * _arg )

virtual

sets the error message

Definition at line 277 of file mitkTrackingTool.cpp.

References m_ErrorMessage, and m_MyMutex.

◆ SetIGTTimeStamp()

virtual void mitk::TrackingTool::SetIGTTimeStamp ( double _arg )

virtual

Sets the IGT timestamp of the tracking tool object (time in milliseconds)

◆ SetOrientation()

void mitk::TrackingTool::SetOrientation ( mitk::Quaternion orientation )

virtual

sets the orientation as a quaternion

Definition at line 197 of file mitkTrackingTool.cpp.

References m_MyMutex, and m_Orientation.

Referenced by mitk::MicroBirdTrackingDevice::TrackTools().

◆ SetPosition()

void mitk::TrackingTool::SetPosition ( mitk::Point3D position )

virtual

sets the position

Definition at line 167 of file mitkTrackingTool.cpp.

References m_MyMutex, and m_Position.

Referenced by mitk::MicroBirdTrackingDevice::TrackTools().

◆ SetToolName() [1/2]

void mitk::TrackingTool::SetToolName ( const std::string _arg )

virtual

Sets the name of the tool.

Definition at line 93 of file mitkTrackingTool.cpp.

Referenced by QmitkNDIConfigurationWidget::UpdateTrackerFromToolTable().

◆ SetToolName() [2/2]

void mitk::TrackingTool::SetToolName ( const char * _arg )

virtual

Sets the name of the tool.

Definition at line 73 of file mitkTrackingTool.cpp.

References m_MyMutex, and m_ToolName.

◆ SetToolTipPosition()

void mitk::TrackingTool::SetToolTipPosition	(	mitk::Point3D	toolTipPosition,
		mitk::Quaternion	orientation,
		mitk::ScalarType	eps = `0.0`
	)

virtual

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.

Definition at line 110 of file mitkTrackingTool.cpp.

References mitk::Equal(), m_ToolAxisOrientation, m_ToolTipPosition, and m_ToolTipSet.

Referenced by QmitkPolhemusTrackerWidget::on_m_ToggleToolTipCalibration_clicked().

◆ SetTrackingError()

void mitk::TrackingTool::SetTrackingError ( float error )

virtual

sets the tracking error

Reimplemented in mitk::OptitrackTrackingTool.

Definition at line 260 of file mitkTrackingTool.cpp.

References m_MyMutex, and m_TrackingError.

Referenced by mitk::MicroBirdTrackingDevice::TrackTools().

Member Data Documentation

◆ m_DataValid

bool mitk::TrackingTool::m_DataValid

protected

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

Definition at line 95 of file mitkTrackingTool.h.

Referenced by IsDataValid(), PrintSelf(), and SetDataValid().

◆ m_Enabled

bool mitk::TrackingTool::m_Enabled

protected

if true, tool is enabled and should receive tracking updates from the tracking device

Definition at line 94 of file mitkTrackingTool.h.

Referenced by Disable(), Enable(), IsEnabled(), and PrintSelf().

◆ m_ErrorMessage

std::string mitk::TrackingTool::m_ErrorMessage

protected

if a tool is invalid, this member should contain a human readable explanation of why it is invalid

Definition at line 87 of file mitkTrackingTool.h.

Referenced by GetErrorMessage(), PrintSelf(), and SetErrorMessage().

◆ m_IGTTimeStamp

double mitk::TrackingTool::m_IGTTimeStamp

protected

contains the time at which the tracking data was recorded

Definition at line 88 of file mitkTrackingTool.h.

◆ m_MyMutex

itk::FastMutexLock::Pointer mitk::TrackingTool::m_MyMutex

protected

mutex to control concurrent access to the tool

Definition at line 89 of file mitkTrackingTool.h.

Referenced by Disable(), Enable(), GetErrorMessage(), GetOrientation(), GetPosition(), GetToolAxisOrientation(), GetToolName(), GetToolTipPosition(), GetTrackingError(), IsDataValid(), IsEnabled(), IsToolTipSet(), SetDataValid(), SetErrorMessage(), SetOrientation(), SetPosition(), SetToolName(), SetTrackingError(), and ~TrackingTool().

◆ m_Orientation

Quaternion mitk::TrackingTool::m_Orientation

protected

holds the orientation of the tool´in global tracking coordinates

Definition at line 92 of file mitkTrackingTool.h.

Referenced by GetOrientation(), GetPosition(), PrintSelf(), SetOrientation(), and TrackingTool().

◆ m_Position

Point3D mitk::TrackingTool::m_Position

protected

holds the position of the tool in global tracking coordinates

Definition at line 91 of file mitkTrackingTool.h.

Referenced by GetPosition(), PrintSelf(), SetPosition(), and TrackingTool().

◆ m_ToolAxisOrientation

Quaternion mitk::TrackingTool::m_ToolAxisOrientation

protected

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

Definition at line 97 of file mitkTrackingTool.h.

Referenced by GetOrientation(), GetToolAxisOrientation(), PrintSelf(), SetToolTipPosition(), and TrackingTool().

◆ m_ToolName

std::string mitk::TrackingTool::m_ToolName

protected

every tool has a name that can be used to identify it.

Definition at line 86 of file mitkTrackingTool.h.

Referenced by GetToolName(), PrintSelf(), and SetToolName().

◆ m_ToolTipPosition

Point3D mitk::TrackingTool::m_ToolTipPosition

protected

holds the position of the tool tip in the coordinate system of the tracking sensor

Definition at line 96 of file mitkTrackingTool.h.

Referenced by GetPosition(), GetToolTipPosition(), PrintSelf(), SetToolTipPosition(), and TrackingTool().

◆ m_ToolTipSet

bool mitk::TrackingTool::m_ToolTipSet

protected

Definition at line 98 of file mitkTrackingTool.h.

Referenced by GetOrientation(), GetPosition(), IsToolTipSet(), PrintSelf(), and SetToolTipPosition().

◆ m_TrackingError

float mitk::TrackingTool::m_TrackingError

protected

holds the tracking error of the tool

Definition at line 93 of file mitkTrackingTool.h.

Referenced by GetTrackingError(), PrintSelf(), and SetTrackingError().

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

Public Member Functions

Static Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ TrackingTool()

◆ ~TrackingTool()

Member Function Documentation

◆ Clone()

◆ Disable()

◆ Enable()

◆ GetErrorMessage()

◆ GetIGTTimeStamp()

◆ GetOrientation()

◆ GetPosition()

◆ GetToolAxisOrientation()

◆ GetToolName()

◆ GetToolTipPosition()

◆ GetTrackingError()

◆ IsDataValid()

◆ IsEnabled()

◆ IsToolTipSet()

◆ mitkClassMacroItkParent()

◆ New()

◆ PrintSelf()

◆ SetDataValid()

◆ SetErrorMessage()

◆ SetIGTTimeStamp()

◆ SetOrientation()

◆ SetPosition()

◆ SetToolName() [1/2]

◆ SetToolName() [2/2]

◆ SetToolTipPosition()

◆ SetTrackingError()

Member Data Documentation

◆ m_DataValid

◆ m_Enabled

◆ m_ErrorMessage

◆ m_IGTTimeStamp

◆ m_MyMutex

◆ m_Orientation

◆ m_Position

◆ m_ToolAxisOrientation

◆ m_ToolName

◆ m_ToolTipPosition

◆ m_ToolTipSet

◆ m_TrackingError