/usr/include/IGSTK/igstkNDITracker.h is in libigstk4-dev 4.4.0-2build2.
This file is owned by root:root, with mode 0o644.
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Program: Image Guided Surgery Software Toolkit
Module: $RCSfile: igstkNDITracker.h,v $
Language: C++
Date: $Date: 2008-11-17 20:12:25 $
Version: $Revision: 1.4 $
Copyright (c) ISC Insight Software Consortium. All rights reserved.
See IGSTKCopyright.txt or http://www.igstk.org/copyright.htm for details.
This software is distributed WITHOUT ANY WARRANTY; without even
the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR
PURPOSE. See the above copyright notices for more information.
=========================================================================*/
#ifndef __igstkNDITracker_h
#define __igstkNDITracker_h
#include "igstkSerialCommunication.h"
#include "igstkNDICommandInterpreter.h"
#include "igstkTrackerTool.h"
#include "igstkTracker.h"
namespace igstk
{
/** \class NDITracker
* \brief Provides support for the NDI trackers.
*
* \ingroup Tracker
*
*/
class NDITracker : public Tracker
{
public:
/** Macro with standard traits declarations. */
igstkStandardAbstractClassTraitsMacro( NDITracker, Tracker )
public:
/** communication type */
typedef igstk::SerialCommunication CommunicationType;
/** The SetCommunication method is used to attach a communication
* object to the tracker object. */
void SetCommunication( CommunicationType *communication );
protected:
NDITracker(void);
virtual ~NDITracker(void);
/** typedef for command interpreter */
typedef igstk::NDICommandInterpreter CommandInterpreterType;
/** typedef for internal boolean return type */
typedef Tracker::ResultType ResultType;
/** Open communication with the tracking device. */
virtual ResultType InternalOpen( void );
/** Close communication with the tracking device. */
virtual ResultType InternalClose( void );
/** Put the tracking device into tracking mode. */
virtual ResultType InternalStartTracking( void );
/** Take the tracking device out of tracking mode. */
virtual ResultType InternalStopTracking( void );
/** Update the status and the transforms for all TrackerTools. */
virtual ResultType InternalUpdateStatus( void );
/** Update the status and the transforms.
This function is called by a separate thread. */
virtual ResultType InternalThreadedUpdateStatus( void );
/** Reset the tracking device to put it back to its original state. */
virtual ResultType InternalReset( void );
/** Verify tracker tool information */
virtual ResultType
VerifyTrackerToolInformation( const TrackerToolType * ) = 0;
/** The "ValidateSpecifiedFrequency" method checks if the specified
* frequency is valid for the tracking device that is being used. */
virtual ResultType ValidateSpecifiedFrequency( double frequencyInHz );
/** Remove tracker tool entry from internal containers */
virtual ResultType RemoveTrackerToolFromInternalDataContainers(
const TrackerToolType * trackerTool );
/** Add tracker tool entry to internal containers */
virtual ResultType AddTrackerToolToInternalDataContainers(
const TrackerToolType * trackerTool );
/** Print object information */
virtual void PrintSelf( std::ostream& os, ::itk::Indent indent ) const;
/** Get method for the command interpreter
* This will method will be used by the derived classes */
CommandInterpreterType::Pointer GetCommandInterpreter() const;
/** Helper function for reporting interpreter errors. */
ResultType CheckError( CommandInterpreterType * ) const;
/** Set port handle to be added */
igstkSetMacro( PortHandleToBeAdded, int );
private:
NDITracker(const Self&); //purposely not implemented
void operator=(const Self&); //purposely not implemented
/** A mutex for multithreaded access to the buffer arrays */
::itk::MutexLock::Pointer m_BufferLock;
/** The "Communication" instance */
CommunicationType::Pointer m_Communication;
/** The baud rate to use */
CommunicationType::BaudRateType m_BaudRate;
/** The command interpreter */
CommandInterpreterType::Pointer m_CommandInterpreter;
/** Port handle container indexed by the tracker tool unique
* identifier */
typedef std::string PortIdentifierType;
typedef std::map< PortIdentifierType, int > PortHandleContainerType;
PortHandleContainerType m_PortHandleContainer;
/** Container holding absent status of tools */
typedef std::map< std::string, int > ToolAbsentStatusContainerType;
ToolAbsentStatusContainerType m_ToolAbsentStatusContainer;
/** Container holding status of the tools */
typedef std::map< std::string, int > ToolStatusContainerType;
ToolStatusContainerType m_ToolStatusContainer;
/** A buffer to hold tool transforms */
typedef std::vector < double > InternalTransformType;
typedef std::map< std::string , InternalTransformType >
TrackerToolTransformContainerType;
TrackerToolTransformContainerType m_ToolTransformBuffer;
/** Port handle of tracker tool to be added */
int m_PortHandleToBeAdded;
};
}
#endif //__igstk_NDITracker_h_
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