#include <OptitrackTool.h>

Inheritance diagram for Optitrack::OptitrackTool:

Public Types
enum	OPTITRACK_TOOL_STATE { STATE_TOOL_NoState = -1, STATE_TOOL_Idle = 0, STATE_TOOL_Configurated = 1, STATE_TOOL_Attached = 2, STATE_TOOL_AttemptingToReadTxtFile = 10, STATE_TOOL_AttemptingToGetIDnext = 11, STATE_TOOL_AttemptingToDettachTrackable = 12, STATE_TOOL_AttemptingToEnableTrackable = 13, STATE_TOOL_AttemptingToDisableTrackable = 14, STATE_TOOL_AttemptingToAttachTrackable = 15, STATE_TOOL_AttemptingToUpdateTrackable = 16, STATE_TOOL_AttemptingToReadXmlFile = 17 }
	Definition of the states for the machine behaviour. More...

enum	OPTITRACK_TOOL_EVENT { EVENT_TOOL_NoEvent = -1 }
	Events that the class can launch NOT USED. More...

Public Member Functions
	BiiGOptitrackControlClassMacro (Optitrack::OptitrackTool, itk::Object)

	itkNewMacro (Self)

ResultType	ConfigureToolByTxtFile (std::string nameFile)
	Different options for the result of the functions. More...

ResultType	ConfigureToolByXmlFile (std::string nameFile)
	Tool configuration by .xml file. More...

int	GetIDnext (void)

ResultType	AttachTrackable (void)
	Trackable attachment. More...

ResultType	DettachTrackable (void)
	Trackable detachment. More...

vnl_vector_fixed< double, 3 >	GetPosition (void)
	Get tool position. More...

vnl_quaternion< double >	GetOrientation (void)
	Get tool orientation. More...

vnl_matrix< double >	GetTransformMatrix (void)
	Get tool transformation matrix. More...

bool	IsTracked (void)
	Check if a tool is being tracked. More...

bool	IsDataValid (void) const
	Returns true if the current position data is valid(no error during tracking, tracking error below threshold, ...) More...

void	SetDataValid (bool validate)
	Set data validity. More...

ResultType	UpdateTool (void)
	Update tool. More...

	itkSetMacro (ToolName, std::string)
	Sets the tool Name. More...

	itkGetMacro (ToolName, std::string)
	Gets the tool Name. More...

	itkSetMacro (NumberOfMarkers, unsigned int)
	Sets the tool NumberOfMarkers. More...

	itkGetMacro (NumberOfMarkers, unsigned int)
	Gets the tool NumberOfMarkers. More...

	itkSetMacro (NumberOfSeenMarkers, unsigned int)
	Sets the tool NumberOfSeenMarkers. More...

	itkGetMacro (NumberOfSeenMarkers, unsigned int)
	Gets the tool NumberOfSeenMarkers. More...

	itkSetMacro (FileConfiguration, std::string)
	Sets the tool FileConfiguration. More...

	itkGetMacro (FileConfiguration, std::string)
	Gets the tool FileConfiguration. More...

	itkGetMacro (OptitrackID, int)
	Gets the tool m_OptitrackID. More...

OPTITRACK_TOOL_STATE	GetState (void)
	Gets the tool State. More...

Protected Member Functions
	OptitrackTool ()

	~OptitrackTool ()

	OptitrackTool (const OptitrackTool &)

const OptitrackTool &	operator= (const OptitrackTool &)

void	SetState (OPTITRACK_TOOL_STATE state_)
	Sets the tool State. More...

ResultType	SetPosition (vnl_vector_fixed< double, 3 > position)
	Set tool position. More...

ResultType	SetOrientation (vnl_quaternion< double > orientation)
	Set tool orientation. More...

ResultType	SetTransformMatrix (vnl_matrix< double > transform)
	Set tool transformation matrix. More...

bool	IsIndeterminateValue (const float pV)
	Check indetermination. More...

bool	IsInfiniteValue (const float pV)
	Check infinite value. More...

void	ConvertMatrix (vnl_matrix< double > &R, vnl_vector_fixed< double, 3 > position, vnl_quaternion< double > orientation)
	Creates tool transformation matrix. More...

Friends
class	OptitrackTracker

Member Enumeration Documentation

enum Optitrack::OptitrackTool::OPTITRACK_TOOL_EVENT

Events that the class can launch NOT USED.

Enumerator
EVENT_TOOL_NoEvent

enum Optitrack::OptitrackTool::OPTITRACK_TOOL_STATE

Definition of the states for the machine behaviour.

Enumerator
STATE_TOOL_NoState
STATE_TOOL_Idle
STATE_TOOL_Configurated
STATE_TOOL_Attached
STATE_TOOL_AttemptingToReadTxtFile
STATE_TOOL_AttemptingToGetIDnext
STATE_TOOL_AttemptingToDettachTrackable
STATE_TOOL_AttemptingToEnableTrackable
STATE_TOOL_AttemptingToDisableTrackable
STATE_TOOL_AttemptingToAttachTrackable
STATE_TOOL_AttemptingToUpdateTrackable
STATE_TOOL_AttemptingToReadXmlFile

Constructor & Destructor Documentation

Optitrack::OptitrackTool::OptitrackTool ( )

protected

Optitrack::OptitrackTool::~OptitrackTool ( )

protected

Optitrack::OptitrackTool::OptitrackTool ( const OptitrackTool & )

protected

Member Function Documentation

ResultType Optitrack::OptitrackTool::AttachTrackable ( void )

Trackable attachment.

This function adds an individual rigid body from the list of tracked rigid bodies.

Returns: Result of the attachment [int].

Optitrack::OptitrackTool::BiiGOptitrackControlClassMacro	(	Optitrack::OptitrackTool	,
		itk::Object
	)

ResultType Optitrack::OptitrackTool::ConfigureToolByTxtFile ( std::string nameFile )

Different options for the result of the functions.

Tool configuration by .txt file.

typedef enum { FAILURE = 0, SUCCESS = 1 } ResultType;

This function configures a tool from a given ".txt" file.

Parameters

nameFile the .txt configuration file path.

Returns: Result of the tool configuration.

ResultType Optitrack::OptitrackTool::ConfigureToolByXmlFile ( std::string nameFile )

Tool configuration by .xml file.

This function configures a tool from a given ".xml" file.

Parameters

nameFile [: the .xml configuration file path.

Returns: Result of the tool configuration [int].

void Optitrack::OptitrackTool::ConvertMatrix	(	vnl_matrix< double > &	R,
		vnl_vector_fixed< double, 3 >	position,
		vnl_quaternion< double >	orientation
	)

protected

Creates tool transformation matrix.

This function creates the tool transformation matrix from position and orientation data.

Parameters

R	[vnl_matrix<double>]: transformation matrix.
position	[vnl_vector_fixed<double, 3>]: position of the tool.
orientation	[vnl_quaternion<double>]: orientation of the tool.

ResultType Optitrack::OptitrackTool::DettachTrackable ( void )

Trackable detachment.

This function removes an individual rigid body from the list of tracked rigid bodies.

Returns: Result of the detachment [int].

int Optitrack::OptitrackTool::GetIDnext ( void )

vnl_quaternion< double > Optitrack::OptitrackTool::GetOrientation ( void )

Get tool orientation.

This function gets the tool orientation.

Returns: Tool orientation [vnl_quaternion<double>].

vnl_vector_fixed< double, 3 > Optitrack::OptitrackTool::GetPosition ( void )

Get tool position.

This function gets the tool position.

Returns: Tool position [vnl_vector_fixed<double,3>].

OptitrackTool::OPTITRACK_TOOL_STATE Optitrack::OptitrackTool::GetState ( void )

Gets the tool State.

Get OptiTrack tool state..

This function gets the state of a tool.

Returns: OptiTrack tool state.

vnl_matrix< double > Optitrack::OptitrackTool::GetTransformMatrix ( void )

Get tool transformation matrix.

This function gets the tool transformation matrix.

Returns: Tool transformation matrix [vnl_matrix<double>].

bool Optitrack::OptitrackTool::IsDataValid ( void ) const

Returns true if the current position data is valid(no error during tracking, tracking error below threshold, ...)

Check if tool data is valid.

This function checks if tool data is valid.

Returns: Result of data assessment [bool]: True if data is valid.

bool Optitrack::OptitrackTool::IsIndeterminateValue ( const float pV )

protected

Check indetermination.

This function checks if a given float number is an indeterminate value.

Returns: Result of indetermination assessment [bool].

bool Optitrack::OptitrackTool::IsInfiniteValue ( const float pV )

protected

Check infinite value.

This function checks if a given float number is an infinite value.

Returns: Result of infinite value assessment [bool].

bool Optitrack::OptitrackTool::IsTracked ( void )

Check if a tool is being tracked.

This function returns information about whether the selected rigid body is found in the current frame.

Returns: Result of tracking assessment [bool]: True if the selected rigid body is found in the current frame.

Optitrack::OptitrackTool::itkGetMacro	(	ToolName	,
		std::string
	)

Gets the tool Name.

Optitrack::OptitrackTool::itkGetMacro	(	NumberOfMarkers	,
		unsigned	int
	)

Gets the tool NumberOfMarkers.

Optitrack::OptitrackTool::itkGetMacro	(	NumberOfSeenMarkers	,
		unsigned	int
	)

Gets the tool NumberOfSeenMarkers.

Optitrack::OptitrackTool::itkGetMacro	(	FileConfiguration	,
		std::string
	)

Gets the tool FileConfiguration.

Optitrack::OptitrackTool::itkGetMacro	(	OptitrackID	,
		int
	)

Gets the tool m_OptitrackID.

Optitrack::OptitrackTool::itkNewMacro ( Self )

Optitrack::OptitrackTool::itkSetMacro	(	ToolName	,
		std::string
	)

Sets the tool Name.

Optitrack::OptitrackTool::itkSetMacro	(	NumberOfMarkers	,
		unsigned	int
	)

Sets the tool NumberOfMarkers.

Optitrack::OptitrackTool::itkSetMacro	(	NumberOfSeenMarkers	,
		unsigned	int
	)

Sets the tool NumberOfSeenMarkers.

Optitrack::OptitrackTool::itkSetMacro	(	FileConfiguration	,
		std::string
	)

Sets the tool FileConfiguration.

const OptitrackTool& Optitrack::OptitrackTool::operator= ( const OptitrackTool & )

protected

void Optitrack::OptitrackTool::SetDataValid ( bool validate )

Set data validity.

This function sets tool data validity.

Parameters

validate [bool]: boolean indicating data validity to be set.

ResultType Optitrack::OptitrackTool::SetOrientation ( vnl_quaternion< double > orientation )

protected

Set tool orientation.

This function sets a given orientation to the tool.

Returns: Result of the orientation setting [int].

ResultType Optitrack::OptitrackTool::SetPosition ( vnl_vector_fixed< double, 3 > position )

protected

Set tool position.

This function sets a given position to the tool.

Returns: Result of the position setting [int].

void Optitrack::OptitrackTool::SetState ( OptitrackTool::OPTITRACK_TOOL_STATE state_ )

protected

Sets the tool State.

Set OptiTrack tool state.

This function sets a given state to the tool.

ResultType Optitrack::OptitrackTool::SetTransformMatrix ( vnl_matrix< double > transform )

protected

Set tool transformation matrix.

This function sets a given transformation matrix to the tool.

Returns: Result of the transformation matrix setting [int].

ResultType Optitrack::OptitrackTool::UpdateTool ( void )

Update tool.

This function updates the tool: getting the position, orientation, and setting the transformation matrix.

Returns: Result of the data update [int].

Friends And Related Function Documentation

friend class OptitrackTracker

friend

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

inc/OptitrackTool.h
src/OptitrackTool.cpp

Public Types

Public Member Functions

Protected Member Functions

Friends

Member Enumeration Documentation

Constructor & Destructor Documentation

Member Function Documentation

Friends And Related Function Documentation