Interface to a tool, i.e. a pointer, US probe or similar. More...

#include <cxTool.h>

Inheritance diagram for cx::Tool:

Public Types
enum	State { tsNONE =0, tsCONFIGURED, tsINITIALIZED, tsTRACKING }

enum	Type { TOOL_NONE, TOOL_REFERENCE, TOOL_MANUAL, TOOL_POINTER, TOOL_US_PROBE, TOOL_MICROSCOPE }

Signals
void	toolTransformAndTimestamp (Transform3D matrix, double timestamp)

void	toolVisible (bool visible)

void	tooltipOffset (double offset)

void	toolProbeSector ()

void	tps (int)

Public Member Functions
	Tool (const QString &uid="", const QString &name="")

virtual	~Tool ()

virtual ToolPositionMetadata	getMetadata () const =0

virtual const std::map< double, ToolPositionMetadata > &	getMetadataHistory ()=0

virtual std::set< Type >	getTypes () const =0

virtual bool	hasType (Type type) const

virtual vtkPolyDataPtr	getGraphicsPolyData () const =0
	get geometric 3D description More...

virtual TimedTransformMapPtr	getPositionHistory ()=0
	get historical positions More...

virtual bool	getVisible () const =0

virtual bool	isInitialized () const

virtual QString	getUid () const =0

virtual QString	getName () const =0

virtual bool	isCalibrated () const =0
	a tool may not be calibrated, then no tracking is allowed More...

virtual Transform3D	getCalibration_sMt () const =0
	get the calibration transform from tool space to sensor space (where the spheres or similar live) More...

virtual double	getTimestamp () const =0
	latest valid timestamp for the position matrix. 0 means indeterminate (for f.ex. manual tools) More...

virtual bool	hasReferencePointWithId (QString id)

virtual TimedTransformMap	getSessionHistory (double startTime, double stopTime)=0

virtual Transform3D	get_prMt () const =0

virtual void	resetTrackingPositionFilter (TrackingPositionFilterPtr filter)=0

virtual void	set_prMt (const Transform3D &prMt, double timestamp=-1)=0
	if available for this type, set pos, ts<0 means use current time More...

virtual void	setVisible (bool vis)=0
	if available for this type, set visibility More...

virtual ToolPtr	getBaseTool ()=0

virtual bool	isNull ()=0

Static Public Member Functions
static vtkPolyDataPtr	createDefaultPolyDataCone ()

static ToolPtr	getNullObject ()

Protected Attributes
QString	mUid

QString	mName

Detailed Description

Interface to a tool, i.e. a pointer, US probe or similar.

The tool position is defined in its own space (as given by the tool's transform) as follows:

the origin is the tool tip
- the z axis points in the acting direction (us probe ray dir or pointing dir).
the y axis points to the left side of the tool.
This means that in the case of an optical tracking frame, the tracking spheres points in the negative x axis

Definition at line 61 of file cxTool.h.

Member Enumeration Documentation

◆ State

enum cx::Tool::State

Enumerates the state of the tool

Enumerator
tsNONE	not available
tsCONFIGURED	configured with basic info
tsINITIALIZED	connected to hardware, if any, ready to use
tsTRACKING	emitting tracking data

Definition at line 72 of file cxTool.h.

◆ Type

enum cx::Tool::Type

Enumerates the general type of tool.

Enumerator
TOOL_NONE
TOOL_REFERENCE	Reference tool.
TOOL_MANUAL	Representation of a mouse/keyboard-controlled virtual tool.
TOOL_POINTER	Navigation pointer. Pointing functionality such as tool offset.
TOOL_US_PROBE	Ultrasond probe. The tool has a Probe subinterface with a sector and a video stream.
TOOL_MICROSCOPE	A tool following the focus point of a microscope.

Definition at line 81 of file cxTool.h.

Constructor & Destructor Documentation

◆ Tool()

cx::Tool::Tool	(	const QString &	uid = `""`,
		const QString &	name = `""`
	)

Definition at line 37 of file cxTool.cpp.

◆ ~Tool()

virtual cx::Tool::~Tool ( )

inlinevirtual

Definition at line 68 of file cxTool.h.

Member Function Documentation

◆ createDefaultPolyDataCone()

vtkPolyDataPtr cx::Tool::createDefaultPolyDataCone ( )

static

Definition at line 20 of file cxTool.cpp.

◆ get_prMt()

virtual Transform3D cx::Tool::get_prMt ( ) const

pure virtual

Implemented in cx::BronchoscopyTool, cx::ToolProxy, cx::ToolNull, cx::PlaybackTool, and cx::ToolImpl.

◆ getBaseTool()

virtual ToolPtr cx::Tool::getBaseTool ( )

pure virtual

Implemented in cx::BronchoscopyTool, cx::ToolProxy, cx::ToolNull, and cx::ToolImpl.

◆ getCalibration_sMt()

virtual Transform3D cx::Tool::getCalibration_sMt ( ) const

pure virtual

get the calibration transform from tool space to sensor space (where the spheres or similar live)

Implemented in cx::DummyTool, cx::ToolUsingIGSTK, cx::BronchoscopyTool, cx::OpenIGTLinkTool, cx::ManualTool, cx::PlaybackTool, cx::ToolProxy, cx::ManualToolAdapter, and cx::ToolNull.

◆ getGraphicsPolyData()

virtual vtkPolyDataPtr cx::Tool::getGraphicsPolyData ( ) const

pure virtual

get geometric 3D description

Implemented in cx::BronchoscopyTool, cx::ToolImpl, cx::ManualTool, cx::ManualToolAdapter, cx::PlaybackTool, cx::ToolProxy, and cx::ToolNull.

◆ getMetadata()

virtual ToolPositionMetadata cx::Tool::getMetadata ( ) const

pure virtual

Implemented in cx::ToolImpl, cx::ToolProxy, and cx::ToolNull.

◆ getMetadataHistory()

virtual const std::map<double, ToolPositionMetadata>& cx::Tool::getMetadataHistory ( )

pure virtual

Implemented in cx::ToolImpl, cx::ToolProxy, and cx::ToolNull.

◆ getName()

virtual QString cx::Tool::getName ( ) const

pure virtual

Returns: a descriptive name for this instance

Implemented in cx::DummyTool, cx::ToolUsingIGSTK, cx::BronchoscopyTool, cx::OpenIGTLinkTool, cx::ManualTool, cx::PlaybackTool, cx::ToolProxy, and cx::ToolNull.

◆ getNullObject()

ToolPtr cx::Tool::getNullObject ( )

static

Definition at line 44 of file cxTool.cpp.

◆ getPositionHistory()

virtual TimedTransformMapPtr cx::Tool::getPositionHistory ( )

pure virtual

get historical positions

Implemented in cx::BronchoscopyTool, cx::PlaybackTool, cx::ToolImpl, cx::ToolProxy, and cx::ToolNull.

◆ getSessionHistory()

virtual TimedTransformMap cx::Tool::getSessionHistory	(	double	startTime,
		double	stopTime
	)

pure virtual

Implemented in cx::BronchoscopyTool, cx::PlaybackTool, cx::ToolProxy, cx::ToolNull, and cx::ToolImpl.

◆ getTimestamp()

virtual double cx::Tool::getTimestamp ( ) const

pure virtual

latest valid timestamp for the position matrix. 0 means indeterminate (for f.ex. manual tools)

Implemented in cx::DummyTool, cx::ToolUsingIGSTK, cx::BronchoscopyTool, cx::OpenIGTLinkTool, cx::ToolProxy, cx::ManualTool, cx::PlaybackTool, and cx::ToolNull.

◆ getTypes()

virtual std::set<Type> cx::Tool::getTypes ( ) const

pure virtual

Implemented in cx::DummyTool, cx::ToolImpl, cx::BronchoscopyTool, cx::ManualTool, cx::ManualToolAdapter, cx::PlaybackTool, cx::ToolProxy, and cx::ToolNull.

◆ getUid()

virtual QString cx::Tool::getUid ( ) const

pure virtual

Returns: an unique id for this instance

Implemented in cx::DummyTool, cx::ToolUsingIGSTK, cx::BronchoscopyTool, cx::OpenIGTLinkTool, cx::ManualTool, cx::PlaybackTool, cx::ToolProxy, and cx::ToolNull.

◆ getVisible()

virtual bool cx::Tool::getVisible ( ) const

pure virtual

Returns: the visibility status of the tool

Implemented in cx::DummyTool, cx::ToolUsingIGSTK, cx::BronchoscopyTool, cx::OpenIGTLinkTool, cx::ManualTool, cx::PlaybackTool, cx::ToolProxy, and cx::ToolNull.

◆ hasReferencePointWithId()

virtual bool cx::Tool::hasReferencePointWithId ( QString id )

inlinevirtual

Reimplemented in cx::BronchoscopyTool, cx::PlaybackTool, cx::ToolProxy, and cx::ToolImpl.

Definition at line 122 of file cxTool.h.

◆ hasType()

virtual bool cx::Tool::hasType ( Type type ) const

inlinevirtual

Returns: true is the tool has properties of the input type.

Definition at line 98 of file cxTool.h.

◆ isCalibrated()

virtual bool cx::Tool::isCalibrated ( ) const

pure virtual

a tool may not be calibrated, then no tracking is allowed

Implemented in cx::DummyTool, cx::ToolUsingIGSTK, cx::OpenIGTLinkTool, cx::BronchoscopyTool, cx::ManualTool, cx::ToolProxy, cx::PlaybackTool, cx::ManualToolAdapter, and cx::ToolNull.

◆ isInitialized()

virtual bool cx::Tool::isInitialized ( ) const

inlinevirtual

Reimplemented in cx::ToolUsingIGSTK, cx::BronchoscopyTool, cx::OpenIGTLinkTool, cx::PlaybackTool, cx::ToolProxy, and cx::ToolNull.

Definition at line 106 of file cxTool.h.

◆ isNull()

virtual bool cx::Tool::isNull ( )

pure virtual

Implemented in cx::ToolProxy, cx::ToolNull, and cx::ToolImpl.

◆ resetTrackingPositionFilter()

virtual void cx::Tool::resetTrackingPositionFilter ( TrackingPositionFilterPtr filter )

pure virtual

Implemented in cx::ToolProxy, cx::ToolNull, and cx::ToolImpl.

◆ set_prMt()

virtual void cx::Tool::set_prMt	(	const Transform3D &	prMt,
		double	timestamp = `-1`
	)

pure virtual

if available for this type, set pos, ts<0 means use current time

Implemented in cx::ManualTool, cx::ToolUsingIGSTK, cx::BronchoscopyTool, cx::ToolProxy, cx::PlaybackTool, cx::ToolNull, and cx::ToolImpl.

◆ setVisible()

virtual void cx::Tool::setVisible ( bool vis )

pure virtual

if available for this type, set visibility

Implemented in cx::ToolUsingIGSTK, cx::BronchoscopyTool, cx::OpenIGTLinkTool, cx::ToolProxy, cx::PlaybackTool, cx::ToolNull, cx::ManualTool, and cx::DummyTool.

◆ toolProbeSector

void cx::Tool::toolProbeSector ( )

signal

◆ tooltipOffset

void cx::Tool::tooltipOffset ( double offset )

signal

◆ toolTransformAndTimestamp

void cx::Tool::toolTransformAndTimestamp	(	Transform3D	matrix,
		double	timestamp
	)

signal

◆ toolVisible

void cx::Tool::toolVisible ( bool visible )

signal

◆ tps

void cx::Tool::tps ( int )

signal

Member Data Documentation

◆ mName

QString cx::Tool::mName

protected

Definition at line 150 of file cxTool.h.

◆ mUid

QString cx::Tool::mUid

protected

Definition at line 149 of file cxTool.h.

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

/mnt/bamboo/bamboo/buildagent/xml-data/build-dir/NN-NI-BU2/CX/CX/source/resource/core/Tool/cxTool.h
/mnt/bamboo/bamboo/buildagent/xml-data/build-dir/NN-NI-BU2/CX/CX/source/resource/core/Tool/cxTool.cpp

Public Types

Signals

Public Member Functions

Static Public Member Functions

Protected Attributes

Detailed Description

Member Enumeration Documentation

◆ State

◆ Type

Constructor & Destructor Documentation

◆ Tool()

◆ ~Tool()

Member Function Documentation

◆ createDefaultPolyDataCone()

◆ get_prMt()

◆ getBaseTool()

◆ getCalibration_sMt()

◆ getGraphicsPolyData()

◆ getMetadata()

◆ getMetadataHistory()

◆ getName()

◆ getNullObject()

◆ getPositionHistory()

◆ getSessionHistory()

◆ getTimestamp()

◆ getTypes()

◆ getUid()

◆ getVisible()

◆ hasReferencePointWithId()

◆ hasType()

◆ isCalibrated()

◆ isInitialized()

◆ isNull()

◆ resetTrackingPositionFilter()

◆ set_prMt()

◆ setVisible()

◆ toolProbeSector

◆ tooltipOffset

◆ toolTransformAndTimestamp

◆ toolVisible

◆ tps

Member Data Documentation

◆ mName

◆ mUid