cxTool.h

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/*=========================================================================
This file is part of CustusX, an Image Guided Therapy Application.

Copyright (c) SINTEF Department of Medical Technology.
All rights reserved.

CustusX is released under a BSD 3-Clause license.

See Lisence.txt (https://github.com/SINTEFMedtek/CustusX/blob/master/License.txt) for details.
=========================================================================*/


#ifndef CXTOOL_H_
#define CXTOOL_H_

#include "cxResourceExport.h"

#include <string>
#include <map>
#include <set>
#include <boost/shared_ptr.hpp>
#include <QObject>
#include <QDomNode>
#include "vtkForwardDeclarations.h"
#include "cxTransform3D.h"
#include "cxIndent.h"
#include "cxCoordinateSystemHelpers.h"
#include "cxProbe.h"
#include "cxForwardDeclarations.h"

namespace cx
{
typedef boost::shared_ptr<class Tool> ToolPtr;
typedef std::map<QString, ToolPtr> ToolMap;
typedef std::map<double, Transform3D> TimedTransformMap;
typedef boost::shared_ptr<TimedTransformMap> TimedTransformMapPtr;
typedef boost::shared_ptr<class TrackingPositionFilter> TrackingPositionFilterPtr;

struct cxResource_EXPORT ToolPositionMetadata
{
        QString mData;
        QString toString() const;
};

class cxResource_EXPORT Tool: public QObject
{
        Q_OBJECT
public:
        static vtkPolyDataPtr createDefaultPolyDataCone();

        Tool(const QString& uid="", const QString& name = "");
        virtual ~Tool() {}

        enum State
        {
                tsNONE=0,         
                tsCONFIGURED,     
                tsINITIALIZED,    
                tsTRACKING,       
        };
        enum Type
        {
                TOOL_NONE,
                TOOL_REFERENCE, 
                TOOL_MANUAL,    
                TOOL_POINTER,   
                TOOL_US_PROBE,  
                TOOL_MICROSCOPE 
        };

        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
        {
                return this->getTypes().count(type);
        }
        virtual vtkPolyDataPtr getGraphicsPolyData() const = 0; 
        virtual TimedTransformMapPtr getPositionHistory() = 0; 

        virtual bool getVisible() const = 0; 
        virtual bool isInitialized() const      { return true; }

        virtual QString getUid() const = 0; 
        virtual QString getName() const = 0; 

        virtual bool isCalibrated() const = 0; 
        virtual Transform3D getCalibration_sMt() const = 0; 
        virtual void setCalibration_sMt(Transform3D calibration) { Q_UNUSED(calibration); } 

        virtual ProbePtr getProbe() const { return ProbePtr(); } 
        virtual double getTimestamp() const = 0; 
        virtual void printSelf(std::ostream &os, Indent indent) { Q_UNUSED(os); Q_UNUSED(indent); } 

        virtual double getTooltipOffset() const { return 0; } 
        virtual void setTooltipOffset(double val) { Q_UNUSED(val); } 
        virtual std::map<QString, Vector3D> getReferencePoints() const { return std::map<QString, Vector3D>(); } 
        virtual bool hasReferencePointWithId(QString id) { Q_UNUSED(id); return false; }

        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; 
        virtual void setVisible(bool vis) = 0; 

        virtual ToolPtr getBaseTool() = 0;
        
        virtual bool isNull() = 0;
        static ToolPtr getNullObject();

#ifdef WIN32
        typedef Transform3D Transform3D;
#endif

signals:
        void toolTransformAndTimestamp(Transform3D matrix, double timestamp);
        void toolVisible(bool visible);
        void tooltipOffset(double offset);
        void toolProbeSector();
        void tps(int);

protected:
        QString mUid;
        QString mName;
};
} // namespace cx

#endif /*CXTOOL_H_*/