mitkNavigationTool.h

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/*============================================================================

The Medical Imaging Interaction Toolkit (MITK)

Copyright (c) German Cancer Research Center (DKFZ)
All rights reserved.

Use of this source code is governed by a 3-clause BSD license that can be
found in the LICENSE file.

============================================================================*/

#ifndef NAVIGATIONTOOL_H_INCLUDED
#define NAVIGATIONTOOL_H_INCLUDED

//itk headers
#include <itkObjectFactory.h>
#include <itkSpatialObject.h>
#include <itkDataObject.h>

//mitk headers
#include <mitkCommon.h>
#include <mitkDataNode.h>
#include <mitkPointSet.h>
#include <mitkTrackingTypes.h>
#include <mitkSurface.h>
#include <MitkIGTExports.h>

namespace mitk {
  class MITKIGT_EXPORT NavigationTool : public itk::DataObject
  {
  public:

    mitkClassMacroItkParent(NavigationTool,itk::DataObject);
    itkFactorylessNewMacro(Self);
    itkCloneMacro(Self);

    enum NavigationToolType {Instrument, Fiducial, Skinmarker, Unknown};

    //## getter and setter ##
    //NavigationToolType:
    itkGetConstMacro(Type,NavigationToolType);
    itkSetMacro(Type,NavigationToolType);

    //Identifier:
    itkGetConstMacro(Identifier,std::string);
    itkSetMacro(Identifier,std::string);

    //Datatreenode:
    itkGetConstMacro(DataNode,mitk::DataNode::Pointer);
    itkSetMacro(DataNode,mitk::DataNode::Pointer);

    //SpatialObject:
    itkGetConstMacro(SpatialObject,itk::SpatialObject<3>::Pointer);
    itkSetMacro(SpatialObject,itk::SpatialObject<3>::Pointer);

    //CalibrationFile:
    itkGetConstMacro(CalibrationFile,std::string);
    void SetCalibrationFile(const std::string filename);

    //Tool tip definition:
    itkGetConstMacro(ToolTipPosition,mitk::Point3D);
    itkSetMacro(ToolTipPosition,mitk::Point3D);
    itkGetConstMacro(ToolAxisOrientation,mitk::Quaternion);
    itkSetMacro(ToolAxisOrientation,mitk::Quaternion);

    //Tool Axis definition:
    mitk::Point3D GetToolAxis();
    void SetToolAxis(mitk::Point3D toolAxis);

    mitk::AffineTransform3D::Pointer GetToolTipTransform();

    bool IsToolTipSet();

    //Tool Landmarks:
    itkGetConstMacro(ToolLandmarks,mitk::PointSet::Pointer);
    itkSetMacro(ToolLandmarks,mitk::PointSet::Pointer);
    itkGetConstMacro(ToolControlPoints,mitk::PointSet::Pointer);
    itkSetMacro(ToolControlPoints,mitk::PointSet::Pointer);

    //SerialNumber:
    itkGetConstMacro(SerialNumber,std::string);
    itkSetMacro(SerialNumber,std::string);
    //TrackingDeviceType:
    itkGetConstMacro(TrackingDeviceType,mitk::TrackingDeviceType);
    itkSetMacro(TrackingDeviceType,mitk::TrackingDeviceType);
    //ToolName (only getter):
    std::string GetToolName();
    //ToolSurface (only getter):
    mitk::Surface::Pointer GetToolSurface();
    void Graft(const DataObject *data) override;


    std::string GetStringWithAllToolInformation() const;


    void SetDefaultSurface();

    //#######################

  protected:

    NavigationTool();
    NavigationTool(const NavigationTool &other);
    ~NavigationTool() override;
    itk::LightObject::Pointer InternalClone() const override;

    //## data structure of a navigation tool object ##
    std::string m_Identifier;
    NavigationToolType m_Type;
    mitk::DataNode::Pointer m_DataNode;
    itk::SpatialObject<3>::Pointer m_SpatialObject;
    std::string m_CalibrationFile;
    std::string m_SerialNumber;
    mitk::TrackingDeviceType m_TrackingDeviceType;
    mitk::PointSet::Pointer m_ToolLandmarks;
    mitk::PointSet::Pointer m_ToolControlPoints;
    mitk::Point3D m_ToolTipPosition;
    mitk::Quaternion m_ToolAxisOrientation;

  };
} // namespace mitk
#endif //NAVIGATIONTOOL