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cxPlusProtocol.h
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1 /*=========================================================================
2 This file is part of CustusX, an Image Guided Therapy Application.
3 
4 Copyright (c) 2008-2014, SINTEF Department of Medical Technology
5 All rights reserved.
6 
7 Redistribution and use in source and binary forms, with or without
8 modification, are permitted provided that the following conditions are met:
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10 1. Redistributions of source code must retain the above copyright notice,
11  this list of conditions and the following disclaimer.
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13 2. Redistributions in binary form must reproduce the above copyright notice,
14  this list of conditions and the following disclaimer in the documentation
15  and/or other materials provided with the distribution.
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17 3. Neither the name of the copyright holder nor the names of its contributors
18  may be used to endorse or promote products derived from this software
19  without specific prior written permission.
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21 THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
22 AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
23 IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
24 DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
25 FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
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30 OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
31 =========================================================================*/
32 
33 #ifndef CXPLUSPROTOCOL_H
34 #define CXPLUSPROTOCOL_H
35 
36 #include "org_custusx_core_openigtlink_Export.h"
37 
38 #include "cxOpenIGTLinkProtocol.h"
39 
40 namespace cx {
41 
162 class org_custusx_core_openigtlink_EXPORT PlusProtocol : public OpenIGTLinkProtocol
163 {
164 public:
165  PlusProtocol();
166 
167  virtual QString getName() const;
168 
169  virtual void translate(const igtl::TransformMessage::Pointer body);
170  virtual void translate(const igtl::ImageMessage::Pointer body);
171  virtual void translate(const igtl::StringMessage::Pointer body);
172 
173 private:
174  double getCurrentTimestamp() const;
175  double getSyncedTimestampForTransformsAndImages(double current_original_timestamp);
176  void registerTransformDeviceName(QString deviceName);
177  bool isCalibration(QString deviceName) const;
178  QString findDeviceForCalibration(QString calibrationDeviceName) const;
179  QString extractDeviceNameFromCalibrationDeviceName(QString calibrationDeviceName) const;
180  QString findRegisteredTransformDeviceNameThatContains(QString deviceName) const;
181 
182  Transform3D igtltool_M_custustool; //custus defines its tool coordinate system differently than igtl
183  QStringList mKnownTransformDeviceNames;
184  QString mCalibrationKeyword;
185  QString mProbeToTrackerName; //name of the device that contains the transform between probe and tracker
186 
187  double mLastKnownOriginalTimestamp;
188  double mLastKnownLocalTimestamp;
189 };
190 
191 }
192 #endif // CXPLUSPROTOCOL_H
Transform3D Transform3D
Transform3D is a representation of an affine 3D transform.
The PlusDialect class contains the knowhow on the packages sent from a PlusServer. For this class to function correctly, the Plus configuration file used by the PlusServer needs to set up correctly.