Medical Imaging Interaction Toolkit  2021.02.99-e55a5d2f
Medical Imaging Interaction Toolkit
mitk::ClaronTool Class Reference

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:
Collaboration diagram for mitk::ClaronTool:

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

◆ ~ClaronTool()

mitk::ClaronTool::~ClaronTool ( )
overrideprotected

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.

◆ GetFile()

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

◆ GetToolHandle()

claronToolHandle mitk::ClaronTool::GetToolHandle ( )
Returns
Returns the tool handle of the tool.

◆ LoadFile() [1/2]

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

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

◆ LoadFile() [2/2]

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

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

◆ mitkClassMacro()

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

◆ New()

static Pointer mitk::ClaronTool::New ( )
staticprotected

◆ 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!

◆ SetToolHandle()

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

Sets the handle of the tool.

Parameters
handleThe new handle of the tool.

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.

◆ 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.

◆ m_ToolHandle

claronToolHandle mitk::ClaronTool::m_ToolHandle
protected

Tool handle variable from tracking device.

Definition at line 75 of file mitkClaronTool.h.


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