IGSTK
Protected Member Functions | List of all members
igstk::InfiniTrackTracker Class Reference

Provides support for the InfiniTrack optical tracker. More...

#include <igstkInfiniTrackTracker.h>

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Protected Member Functions

 InfiniTrackTracker (void)
 Macro with standard traits declarations. More...
 
virtual ~InfiniTrackTracker (void)
 Destructor. More...
 
virtual ResultType InternalOpen (void)
 The "InternalOpen" method opens communication with a tracking device. More...
 
virtual ResultType InternalClose (void)
 The "InternalClose" method closes communication with a tracking device. More...
 
virtual ResultType InternalReset (void)
 The "InternalReset" method resets tracker to a known configuration. More...
 
virtual ResultType InternalStartTracking (void)
 The "InternalStartTracking" method starts tracking. More...
 
virtual ResultType InternalStopTracking (void)
 The "InternalStopTracking" method stops tracking. More...
 
virtual ResultType InternalUpdateStatus (void)
 The "InternalUpdateStatus" method updates tracker status. More...
 
virtual ResultType InternalThreadedUpdateStatus (void)
 The "InternalThreadedUpdateStatus" method updates tracker status. More...
 
virtual void PrintSelf (std::ostream &os, itk::Indent indent) const
 Print the object information in a stream. More...
 
virtual ResultType VerifyTrackerToolInformation (const TrackerToolType *)
 Verify if a tracker tool information is correct before attaching it to the tracker. More...
 
virtual ResultType ValidateSpecifiedFrequency (double frequencyInHz)
 The "ValidateSpecifiedFrequency" method checks if the specified frequency is valid for the tracking device that is being used. More...
 
virtual ResultType RemoveTrackerToolFromInternalDataContainers (const TrackerToolType *trackerTool)
 This method will remove entries of the traceker tool from internal data containers. More...
 
virtual ResultType AddTrackerToolToInternalDataContainers (const TrackerToolType *trackerTool)
 Add tracker tool entry to internal containers. More...
 
- Protected Member Functions inherited from igstk::Tracker
 Tracker (void)
 
virtual ~Tracker (void)
 
virtual TimePeriodType GetValidityTime ()
 Get the validity time. More...
 
const TrackerToolsContainerTypeGetTrackerToolContainer () const
 Access method for the tracker tool container. More...
 
void ReportTrackingToolNotAvailable (TrackerToolType *trackerTool) const
 Report to tracker tool that it is not available for tracking. More...
 
void ReportTrackingToolVisible (TrackerToolType *trackerTool) const
 Report to tracker tool that it is visible. More...
 
void SetTrackerToolRawTransform (TrackerToolType *trackerTool, const TransformType transform)
 Set tracker tool raw transform. More...
 
void SetTrackerToolTransformUpdate (TrackerToolType *trackerTool, bool flag) const
 Turn on/off update flag of the tracker tool. More...
 
void ExitTrackingStateProcessing (void)
 Depending on the tracker type, the tracking thread should be terminated or left untouched when we stop tracking. More...
 
void ExitTrackingWithoutTerminatingTrackingThread ()
 Exit tracking without terminating tracking thread. More...
 
void ExitTrackingTerminatingTrackingThread ()
 Exit tracking after terminating tracking thread. More...
 
- Protected Member Functions inherited from igstk::Object
LoggerTypeGetLogger () const
 
 Object (void)
 Constructor is protected in order to enforce the use of the New() operator. More...
 
virtual ~Object (void)
 
void RegisterObservedObject (const ::igstk::Object *object, unsigned long tag)
 Register observed objects in an internal array so that they can be disconnected upon destruction. More...
 
void RemoveFromObservedObjects ()
 Remove observers that this object may have connected to other objects. More...
 

Additional Inherited Members

- Public Types inherited from igstk::Object
typedef Object Self
 General Typedefs. More...
 
typedef ::itk::Object Superclass
 
typedef ::itk::SmartPointer< SelfPointer
 
typedef ::itk::SmartPointer
< const Self
ConstPointer
 
typedef igstk::Logger LoggerType
 
- Public Member Functions inherited from igstk::Tracker
void RequestOpen (void)
 The "RequestOpen" method attempts to open communication with the tracking device. More...
 
void RequestClose (void)
 The "RequestClose" method closes communication with the device. More...
 
void RequestReset (void)
 The "RequestReset" tracker method should be used to bring the tracker to some defined default state. More...
 
void RequestStartTracking (void)
 The "RequestStartTracking" method readies the tracker for tracking the tools connected to the tracker. More...
 
void RequestStopTracking (void)
 The "RequestStopTracking" stops tracker from tracking the tools. More...
 
void RequestSetFrequency (double frequencyInHz)
 The "RequestSetFrequency" method defines the frequency at which the Transform information will be queried from the Tracker device. More...
 
void RequestSetReferenceTool (TrackerToolType *trackerTool)
 Set a reference tracker tool. More...
 
virtual void SetThreadingEnabled (bool _arg)
 SetThreadingEnabled(bool) : set m_ThreadingEnabled value. More...
 
virtual bool GetThreadingEnabled ()
 GetThreadingEnabled(bool) : get m_ThreadingEnabled value. More...
 
- Public Member Functions inherited from igstk::Object
virtual const char * GetNameOfClass () const
 
void SetLogger (LoggerType *logger)
 Connect the Logger for this class. More...
 
void RemoveObserver (unsigned long tag) const
 
- Static Public Member Functions inherited from igstk::Object
static Pointer New (void)
 
- Public Attributes inherited from igstk::Tracker
igstkStandardAbstractClassTraitsMacro(Tracker,
Object) public typedef
TrackerTool 
TrackerToolType
 Macro with standard traits declarations. More...
 
- Protected Types inherited from igstk::Tracker
enum  ResultType { FAILURE =0, SUCCESS }
 
typedef Transform::TimePeriodType TimePeriodType
 typedef for times used by the tracker More...
 
typedef Transform TransformType
 typedefs from Transform class More...
 
typedef std::map< std::string,
TrackerToolType * > 
TrackerToolsContainerType
 typedefs from TrackerTool class More...
 

Detailed Description

Provides support for the InfiniTrack optical tracker.

The InfiniTrack tracker is a firewire-based optical tracker form Atracsys sàrl in Bottens, Switzerland. This class uses the infiniTrack library that comes with the Tracker to communicate with the tracker camera and gather pose information of surgical tools.

Notice that the infiniTrack library will search in the application directory for the calibration file that match the serial number of attached camera. The calibration file is identified by 0xXXXXXXXX.xml.

See Also
http://www.atracsys.com/

Definition at line 57 of file igstkInfiniTrackTracker.h.

Constructor & Destructor Documentation

igstk::InfiniTrackTracker::InfiniTrackTracker ( void  )
protected

Macro with standard traits declarations.

Set marker templates directory Constructor

virtual igstk::InfiniTrackTracker::~InfiniTrackTracker ( void  )
protectedvirtual

Destructor.

Member Function Documentation

virtual ResultType igstk::InfiniTrackTracker::InternalOpen ( void  )
protectedvirtual

The "InternalOpen" method opens communication with a tracking device.

This method is to be implemented by a descendant class and responsible for device-specific processing

Implements igstk::Tracker.

virtual ResultType igstk::InfiniTrackTracker::InternalClose ( void  )
protectedvirtual

The "InternalClose" method closes communication with a tracking device.

This method is to be implemented by a descendant class and responsible for device-specific processing

Implements igstk::Tracker.

virtual ResultType igstk::InfiniTrackTracker::InternalReset ( void  )
protectedvirtual

The "InternalReset" method resets tracker to a known configuration.

This method is to be implemented by a descendant class and responsible for device-specific processing

Implements igstk::Tracker.

virtual ResultType igstk::InfiniTrackTracker::InternalStartTracking ( void  )
protectedvirtual

The "InternalStartTracking" method starts tracking.

This method is to be implemented by a descendant class and responsible for device-specific processing

Implements igstk::Tracker.

virtual ResultType igstk::InfiniTrackTracker::InternalStopTracking ( void  )
protectedvirtual

The "InternalStopTracking" method stops tracking.

This method is to be implemented by a descendant class and responsible for device-specific processing

Implements igstk::Tracker.

virtual ResultType igstk::InfiniTrackTracker::InternalUpdateStatus ( void  )
protectedvirtual

The "InternalUpdateStatus" method updates tracker status.

This method is to be implemented by a descendant class and responsible for device-specific processing

Implements igstk::Tracker.

virtual ResultType igstk::InfiniTrackTracker::InternalThreadedUpdateStatus ( void  )
protectedvirtual

The "InternalThreadedUpdateStatus" method updates tracker status.

This method is called in a separate thread. This method is to be implemented by a descendant class and responsible for device-specific processing

Implements igstk::Tracker.

virtual void igstk::InfiniTrackTracker::PrintSelf ( std::ostream &  os,
itk::Indent  indent 
) const
protectedvirtual

Print the object information in a stream.

Reimplemented from igstk::Tracker.

virtual ResultType igstk::InfiniTrackTracker::VerifyTrackerToolInformation ( const TrackerToolType )
protectedvirtual

Verify if a tracker tool information is correct before attaching it to the tracker.

This method is used to verify the information supplied by the user about the tracker tool. The information depends on the tracker type. For example, during the configuration step of the InfiniTrackTracker, location of the directory containing marker template files is specified. If the user tries to attach a tracker tool with a marker type whose template file is not stored in this directory, this method will return failure. Similarly, for PolarisTracker, the method returns failure, if the tool part number specified by the user during the tracker tool configuration step does not match with the part number read from the SROM file.

Implements igstk::Tracker.

virtual ResultType igstk::InfiniTrackTracker::ValidateSpecifiedFrequency ( double  frequencyInHz)
protectedvirtual

The "ValidateSpecifiedFrequency" method checks if the specified frequency is valid for the tracking device that is being used.

This method is to be overridden in the derived tracking-device specific classes to take into account the maximum frequency possible in the tracking device

Reimplemented from igstk::Tracker.

virtual ResultType igstk::InfiniTrackTracker::RemoveTrackerToolFromInternalDataContainers ( const TrackerToolType trackerTool)
protectedvirtual

This method will remove entries of the traceker tool from internal data containers.

Implements igstk::Tracker.

virtual ResultType igstk::InfiniTrackTracker::AddTrackerToolToInternalDataContainers ( const TrackerToolType trackerTool)
protectedvirtual

Add tracker tool entry to internal containers.

Implements igstk::Tracker.


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