cxTool.h

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

Copyright (c) 2008-2014, SINTEF Department of Medical Technology
All rights reserved.

Redistribution and use in source and binary forms, with or without 
modification, are permitted provided that the following conditions are met:

1. Redistributions of source code must retain the above copyright notice, 
   this list of conditions and the following disclaimer.

2. Redistributions in binary form must reproduce the above copyright notice, 
   this list of conditions and the following disclaimer in the documentation 
   and/or other materials provided with the distribution.

3. Neither the name of the copyright holder nor the names of its contributors 
   may be used to endorse or promote products derived from this software 
   without specific prior written permission.

THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" 
AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE 
IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE 
DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE 
FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL 
DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR 
SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 
CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, 
OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE 
OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
=========================================================================*/


#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<int, Vector3D> getReferencePoints() const { return std::map<int, Vector3D>(); } 
        virtual bool hasReferencePointWithId(int 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 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_*/