Fraxinus  16.5.0-fx-rc8
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cxTool.h
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1 /*=========================================================================
2 This file is part of CustusX, an Image Guided Therapy Application.
3 
4 Copyright (c) 2008-2014, SINTEF Department of Medical Technology
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31 =========================================================================*/
32 
33 
34 #ifndef CXTOOL_H_
35 #define CXTOOL_H_
36 
37 #include "cxResourceExport.h"
38 
39 #include <string>
40 #include <map>
41 #include <set>
42 #include <boost/shared_ptr.hpp>
43 #include <QObject>
44 #include <QDomNode>
45 #include "vtkForwardDeclarations.h"
46 #include "cxTransform3D.h"
47 #include "cxIndent.h"
49 #include "cxProbe.h"
50 #include "cxForwardDeclarations.h"
51 
52 namespace cx
53 {
54 typedef boost::shared_ptr<class Tool> ToolPtr;
55 typedef std::map<QString, ToolPtr> ToolMap;
56 typedef std::map<double, Transform3D> TimedTransformMap;
57 typedef boost::shared_ptr<TimedTransformMap> TimedTransformMapPtr;
58 typedef boost::shared_ptr<class TrackingPositionFilter> TrackingPositionFilterPtr;
59 
64 struct cxResource_EXPORT ToolPositionMetadata
65 {
66  QString mData;
67  QString toString() const;
68 };
69 
82 class cxResource_EXPORT Tool: public QObject
83 {
84  Q_OBJECT
85 public:
86  static vtkPolyDataPtr createDefaultPolyDataCone();
87 
88  Tool(const QString& uid="", const QString& name = "");
89  virtual ~Tool() {}
90 
93  enum State
94  {
95  tsNONE=0,
99  };
102  enum Type
103  {
109  TOOL_MICROSCOPE
110  };
111 
112  virtual ToolPositionMetadata getMetadata() const = 0;
113  virtual const std::map<double, ToolPositionMetadata>& getMetadataHistory() = 0;
114 
115  virtual std::set<Type> getTypes() const = 0;
119  virtual bool hasType(Type type) const
120  {
121  return this->getTypes().count(type);
122  }
123  virtual vtkPolyDataPtr getGraphicsPolyData() const = 0;
124  virtual TimedTransformMapPtr getPositionHistory() = 0;
125 
126  virtual bool getVisible() const = 0;
127  virtual bool isInitialized() const { return true; }
128 
129  virtual QString getUid() const = 0;
130  virtual QString getName() const = 0;
131 
132  virtual bool isCalibrated() const = 0;
133  virtual Transform3D getCalibration_sMt() const = 0;
134  virtual void setCalibration_sMt(Transform3D calibration) { Q_UNUSED(calibration); }
135 
136  virtual ProbePtr getProbe() const { return ProbePtr(); }
137  virtual double getTimestamp() const = 0;
138  virtual void printSelf(std::ostream &os, Indent indent) { Q_UNUSED(os); Q_UNUSED(indent); }
139 
140  virtual double getTooltipOffset() const { return 0; }
141  virtual void setTooltipOffset(double val) { Q_UNUSED(val); }
142  virtual std::map<int, Vector3D> getReferencePoints() const { return std::map<int, Vector3D>(); }
143  virtual bool hasReferencePointWithId(int id) { Q_UNUSED(id); return false; }
144 
145  virtual TimedTransformMap getSessionHistory(double startTime, double stopTime) = 0;
146  virtual Transform3D get_prMt() const = 0;
147 
148  virtual void resetTrackingPositionFilter(TrackingPositionFilterPtr filter) = 0;
149 
150  virtual void set_prMt(const Transform3D& prMt, double timestamp=-1) = 0;
151  virtual void setVisible(bool vis) = 0;
152 
153  virtual bool isNull() = 0;
154  static ToolPtr getNullObject();
155 
156 #ifdef WIN32
157  typedef Transform3D Transform3D;
158 #endif
159 
160 signals:
161  void toolTransformAndTimestamp(Transform3D matrix, double timestamp);
162  void toolVisible(bool visible);
163  void tooltipOffset(double offset);
164  void toolProbeSector();
165  void tps(int);
166 
167 protected:
168  QString mUid;
169  QString mName;
170 };
171 } // namespace cx
172 
173 #endif /*CXTOOL_H_*/
tsNONE
Not specified.
Interface to a tool, i.e. a pointer, US probe or similar.
Definition: cxTool.h:82
Transform3D Transform3D
Transform3D is a representation of an affine 3D transform.
configured with basic info
Definition: cxTool.h:96
virtual void setCalibration_sMt(Transform3D calibration)
requests to use the calibration and replaces the tools calibration file
Definition: cxTool.h:134
Reference tool.
Definition: cxTool.h:105
virtual ~Tool()
Definition: cxTool.h:89
QString mUid
Definition: cxTool.h:168
boost::shared_ptr< Probe > ProbePtr
Definition: cxProbe.h:93
virtual double getTooltipOffset() const
get a virtual offset extending from the tool tip.
Definition: cxTool.h:140
vtkSmartPointer< class vtkPolyData > vtkPolyDataPtr
QString mName
Definition: cxTool.h:169
boost::shared_ptr< TimedTransformMap > TimedTransformMapPtr
Definition: cxTool.h:57
std::map< QString, ToolPtr > ToolMap
Formatting class for debug printing of the ssc library.
Definition: cxIndent.h:49
virtual bool hasType(Type type) const
Definition: cxTool.h:119
virtual void setTooltipOffset(double val)
set a virtual offset extending from the tool tip.
Definition: cxTool.h:141
Representation of a mouse/keyboard-controlled virtual tool.
Definition: cxTool.h:106
connected to hardware, if any, ready to use
Definition: cxTool.h:97
virtual std::map< int, Vector3D > getReferencePoints() const
Get the optional reference points from this tool.
Definition: cxTool.h:142
virtual ProbePtr getProbe() const
additional information if the tool represents an US Probe. Extends getProbeSector() ...
Definition: cxTool.h:136
virtual bool isInitialized() const
Definition: cxTool.h:127
virtual void printSelf(std::ostream &os, Indent indent)
dump internal debug data
Definition: cxTool.h:138
emitting tracking data
Definition: cxTool.h:98
boost::shared_ptr< class TrackingPositionFilter > TrackingPositionFilterPtr
Definition: cxTool.h:58
virtual bool hasReferencePointWithId(int id)
Definition: cxTool.h:143
Ultrasond probe. The tool has a Probe subinterface with a sector and a video stream.
Definition: cxTool.h:108
Navigation pointer. Pointing functionality such as tool offset.
Definition: cxTool.h:107
std::map< double, Transform3D > TimedTransformMap
boost::shared_ptr< class Tool > ToolPtr