Navigation Data. More...

#include <mitkNavigationData.h>

Public Types
typedef NavigationData	Self
typedef itk::DataObject	Superclass
typedef itk::SmartPointer< Self >	Pointer
typedef itk::SmartPointer < const Self >	ConstPointer
typedef mitk::Point3D	PositionType
	Type that holds the position part of the tracking data.
typedef mitk::Quaternion	OrientationType
	Type that holds the orientation part of the tracking data.
typedef itk::Matrix < mitk::ScalarType, 6, 6 >	CovarianceMatrixType
	type that holds the error characterization of the position and orientation measurements
typedef double	TimeStampType
	type that holds the time at which the data was recorded
Public Member Functions
virtual const char *	GetClassName () const
virtual void	SetPosition (PositionType _arg)
virtual PositionType	GetPosition () const
	sets the position of the NavigationData object
virtual void	SetOrientation (OrientationType _arg)
	returns position of the NavigationData object
virtual OrientationType	GetOrientation () const
	sets the orientation of the NavigationData object
virtual bool	IsDataValid () const
	returns the orientation of the NavigationData object
virtual void	SetDataValid (bool _arg)
virtual void	SetTimeStamp (TimeStampType _arg)
	sets the overall error estimation of the NavigationData object
virtual TimeStampType	GetTimeStamp () const
	sets the timestamp of the NavigationData object
virtual void	SetHasPosition (bool _arg)
	gets the timestamp of the NavigationData object
virtual bool	GetHasPosition () const
	sets the HasPosition flag of the NavigationData object
virtual void	SetHasOrientation (bool _arg)
	gets the HasPosition flag of the NavigationData object
virtual bool	GetHasOrientation () const
	sets the HasOrientation flag of the NavigationData object
virtual void	SetCovErrorMatrix (CovarianceMatrixType _arg)
	gets the HasOrientation flag of the NavigationData object
virtual CovarianceMatrixType	GetCovErrorMatrix () const
	sets the 6x6 Error Covariance Matrix of the NavigationData object
virtual void	SetName (const char *_arg)
	gets the 6x6 Error Covariance Matrix of the NavigationData object
virtual const char *	GetName () const
	set the name of the NavigationData object
virtual void	Graft (const DataObject *data)
	returns the name of the NavigationData object
virtual void	CopyInformation (const DataObject *data)
	copy meta data of a NavigationData object
void	PrintSelf (std::ostream &os, itk::Indent indent) const
	print object information
void	SetPositionAccuracy (mitk::ScalarType error)
void	SetOrientationAccuracy (mitk::ScalarType error)
Static Public Member Functions
static Pointer	New ()
Protected Member Functions
	NavigationData ()
virtual	~NavigationData ()
Protected Attributes
PositionType	m_Position
	holds the position part of the tracking data
OrientationType	m_Orientation
	holds the orientation part of the tracking data
CovarianceMatrixType	m_CovErrorMatrix
	A 6x6 covariance matrix parameterizing the Gaussian error distribution of the measured position and orientation.
bool	m_HasPosition
	defines if position part of m_CovErrorMatrix is valid
bool	m_HasOrientation
	defines if orientation part of m_CovErrorMatrix is valid
bool	m_DataValid
	defines if the object contains valid values
TimeStampType	m_TimeStamp
	contains the time at which the tracking data was recorded
std::string	m_Name
	name of the navigation data

Detailed Description

Navigation Data.

Documentation This class represents the data object that is passed through the MITK-IGT navigation filter pipeline. It encapsulates position and orientation of a tracked tool/sensor. Additionally, it contains a data structure that contains error/plausibility information

Definition at line 36 of file mitkNavigationData.h.

Member Typedef Documentation

typedef itk::SmartPointer<const Self> mitk::NavigationData::ConstPointer

Definition at line 39 of file mitkNavigationData.h.

typedef itk::Matrix<mitk::ScalarType,6,6> mitk::NavigationData::CovarianceMatrixType

type that holds the error characterization of the position and orientation measurements

Definition at line 43 of file mitkNavigationData.h.

typedef mitk::Quaternion mitk::NavigationData::OrientationType

Type that holds the orientation part of the tracking data.

Definition at line 42 of file mitkNavigationData.h.

typedef itk::SmartPointer<Self> mitk::NavigationData::Pointer

Definition at line 39 of file mitkNavigationData.h.

typedef mitk::Point3D mitk::NavigationData::PositionType

Type that holds the position part of the tracking data.

Definition at line 40 of file mitkNavigationData.h.

typedef NavigationData mitk::NavigationData::Self

Definition at line 39 of file mitkNavigationData.h.

typedef itk::DataObject mitk::NavigationData::Superclass

Definition at line 39 of file mitkNavigationData.h.

typedef double mitk::NavigationData::TimeStampType

type that holds the time at which the data was recorded

Definition at line 44 of file mitkNavigationData.h.

Constructor & Destructor Documentation

mitk::NavigationData::NavigationData ( ) [protected]

Definition at line 21 of file mitkNavigationData.cpp.

References m_CovErrorMatrix, and m_Position.

                                   : itk::DataObject(), 
m_Position(), m_Orientation(0.0, 0.0, 0.0, 0.0), m_CovErrorMatrix(),
m_HasPosition(true), m_HasOrientation(true), m_DataValid(false), m_TimeStamp(0.0),
m_Name()
{
  m_Position.Fill(0.0);
  m_CovErrorMatrix.SetIdentity();
}

mitk::NavigationData::~NavigationData ( ) [protected, virtual]

Definition at line 30 of file mitkNavigationData.cpp.

{
}

Member Function Documentation

void mitk::NavigationData::CopyInformation ( const DataObject * data ) [virtual]

copy meta data of a NavigationData object

copies all meta data from NavigationData data to this object

Definition at line 88 of file mitkNavigationData.cpp.

{
  this->Superclass::CopyInformation( data );

  const Self * nd = NULL;
  try
  {
    nd = dynamic_cast<const Self*>(data);
  }
  catch( ... )
  {
    // data could not be cast back down
    itkExceptionMacro(<< "mitk::NavigationData::CopyInformation() cannot cast "
      << typeid(data).name() << " to "
      << typeid(Self*).name() );
  }
  if ( !nd )
  {
    // pointer could not be cast back down
    itkExceptionMacro(<< "mitk::NavigationData::CopyInformation() cannot cast "
      << typeid(data).name() << " to "
      << typeid(Self*).name() );
  }
  /* copy all meta data */
}

virtual const char* mitk::NavigationData::GetClassName ( ) const [virtual]

virtual CovarianceMatrixType mitk::NavigationData::GetCovErrorMatrix ( ) const [virtual]

sets the 6x6 Error Covariance Matrix of the NavigationData object

Referenced by mitk::NavigationDataToMessageFilter::GenerateData(), Graft(), QmitkIGTExampleView::OnMeasure(), and mitk::NavigationDataRecorder::Update().

virtual bool mitk::NavigationData::GetHasOrientation ( ) const [virtual]

sets the HasOrientation flag of the NavigationData object

Referenced by mitk::NavigationDataToOpenGLFilter::GenerateData(), Graft(), and mitk::NavigationDataRecorder::Update().

virtual bool mitk::NavigationData::GetHasPosition ( ) const [virtual]

sets the HasPosition flag of the NavigationData object

Referenced by Graft(), and mitk::NavigationDataRecorder::Update().

virtual const char* mitk::NavigationData::GetName ( ) const [virtual]

set the name of the NavigationData object

Referenced by QmitkToolDistanceWidget::CreateToolDistanceMatrix(), Graft(), and QmitkToolTrackingStatusWidget::Refresh().

virtual OrientationType mitk::NavigationData::GetOrientation ( ) const [virtual]

sets the orientation of the NavigationData object

Referenced by mitk::NavigationDataTransformFilter::GenerateData(), mitk::NavigationDataToOpenGLFilter::GenerateData(), mitk::NavigationDataToMessageFilter::GenerateData(), mitk::NavigationDataObjectVisualizationFilter::GenerateData(), mitk::NavigationDataLandmarkTransformFilter::GenerateData(), mitk::CameraVisualization::GenerateData(), Graft(), mitkNavigationDataDisplacementFilterTest(), mitkNavigationDataTransformFilterTest(), QmitkIGTExampleView::OnMeasure(), and mitk::NavigationDataRecorder::Update().

virtual PositionType mitk::NavigationData::GetPosition ( ) const [virtual]

sets the position of the NavigationData object

virtual TimeStampType mitk::NavigationData::GetTimeStamp ( ) const [virtual]

sets the timestamp of the NavigationData object

Referenced by mitk::NavigationDataToMessageFilter::GenerateData(), and Graft().

void mitk::NavigationData::Graft ( const DataObject * data ) [virtual]

returns the name of the NavigationData object

Graft the data and information from one NavigationData to another.

Copies the content of data into this object. This is a convenience method to setup a second NavigationData object with all the meta information of another NavigationData object. Note that this method is different than just using two SmartPointers to the same NavigationData object since separate DataObjects are still maintained.

Definition at line 35 of file mitkNavigationData.cpp.

References GetCovErrorMatrix(), GetHasOrientation(), GetHasPosition(), GetName(), GetOrientation(), GetPosition(), GetTimeStamp(), and IsDataValid().

Referenced by mitk::NavigationDataTransformFilter::GenerateData(), mitk::NavigationDataToOpenGLFilter::GenerateData(), mitk::NavigationDataToMessageFilter::GenerateData(), mitk::NavigationDataSequentialPlayer::GenerateData(), mitk::NavigationDataPlayer::GenerateData(), mitk::NavigationDataObjectVisualizationFilter::GenerateData(), mitk::NavigationDataLandmarkTransformFilter::GenerateData(), mitk::NavigationDataDisplacementFilter::GenerateData(), and mitk::CameraVisualization::GenerateData().

{
  // Attempt to cast data to an NavigationData
  const Self* nd;
  try
  {
    nd = dynamic_cast<const Self *>( data );
  }
  catch( ... )
  {
    itkExceptionMacro( << "mitk::NavigationData::Graft cannot cast "
      << typeid(data).name() << " to "
      << typeid(const Self *).name() );
    return;
  }
  if (!nd)
  {
    // pointer could not be cast back down
    itkExceptionMacro( << "mitk::NavigationData::Graft cannot cast "
      << typeid(data).name() << " to "
      << typeid(const Self *).name() );
    return;
  }
  // Now copy anything that is needed
  this->SetPosition(nd->GetPosition());
  this->SetOrientation(nd->GetOrientation());
  this->SetDataValid(nd->IsDataValid());
  this->SetTimeStamp(nd->GetTimeStamp());
  this->SetHasPosition(nd->GetHasPosition());
  this->SetHasOrientation(nd->GetHasOrientation());
  this->SetCovErrorMatrix(nd->GetCovErrorMatrix());
  this->SetName(nd->GetName());
}

bool mitk::NavigationData::IsDataValid ( ) const [virtual]

returns the orientation of the NavigationData object

returns true if the object contains valid data

Definition at line 70 of file mitkNavigationData.cpp.

{
  return m_DataValid;
}

static Pointer mitk::NavigationData::New ( ) [static]

void mitk::NavigationData::PrintSelf	(	std::ostream &	os,
		itk::Indent	indent
	)		const

print object information

Definition at line 76 of file mitkNavigationData.cpp.

{
  this->Superclass::PrintSelf(os, indent);
  os << indent << "data valid: "     << this->IsDataValid() << std::endl;
  os << indent << "Position: "       << this->GetPosition() << std::endl;
  os << indent << "TimeStamp: "      << this->GetTimeStamp() << std::endl;
  os << indent << "HasPosition: "    << this->GetHasPosition() << std::endl;
  os << indent << "HasOrientation: " << this->GetHasOrientation() << std::endl;
  os << indent << "CovErrorMatrix: " << this->GetCovErrorMatrix() << std::endl;
}

virtual void mitk::NavigationData::SetCovErrorMatrix ( CovarianceMatrixType _arg ) [virtual]

gets the HasOrientation flag of the NavigationData object

virtual void mitk::NavigationData::SetDataValid ( bool _arg ) [virtual]

Referenced by mitk::TrackingDeviceSource::GenerateData(), mitk::NavigationDataTransformFilter::GenerateData(), mitk::NavigationDataSequentialPlayer::GenerateData(), mitk::NavigationDataObjectVisualizationFilter::GenerateData(), mitk::NavigationDataLandmarkTransformFilter::GenerateData(), and mitk::NavigationDataDisplacementFilter::GenerateData().

virtual void mitk::NavigationData::SetHasOrientation ( bool _arg ) [virtual]

gets the HasPosition flag of the NavigationData object

virtual void mitk::NavigationData::SetHasPosition ( bool _arg ) [virtual]

gets the timestamp of the NavigationData object

virtual void mitk::NavigationData::SetName ( const char * _arg ) [virtual]

gets the 6x6 Error Covariance Matrix of the NavigationData object

virtual void mitk::NavigationData::SetOrientation ( OrientationType _arg ) [virtual]

returns position of the NavigationData object

Referenced by mitk::TrackingDeviceSource::GenerateData(), mitk::NavigationDataTransformFilter::GenerateData(), mitk::NavigationDataToOpenGLFilter::GenerateData(), and mitk::NavigationDataLandmarkTransformFilter::GenerateData().

void mitk::NavigationData::SetOrientationAccuracy ( mitk::ScalarType error )

Set the orientation part of m_CovErrorMatrix to I*error^2 This means that all orientation variables are assumed to be independent

Definition at line 129 of file mitkNavigationData.cpp.

Referenced by mitk::TrackingDeviceSource::GenerateData().

{
  for ( int i = 0; i < 3; i++ )
    for ( int j = 0; j < 3; j++ ) {
      m_CovErrorMatrix[ i + 3 ][ j + 3 ] = 0;
      // assume independence of position and orientation
      m_CovErrorMatrix[ i + 3 ][ j ] = 0;
      m_CovErrorMatrix[ i ][ j + 3 ] = 0;
    }
  m_CovErrorMatrix[3][3] = m_CovErrorMatrix[4][4] = m_CovErrorMatrix[5][5] = error * error;
}

virtual void mitk::NavigationData::SetPosition ( PositionType _arg ) [virtual]

Referenced by mitk::TrackingDeviceSource::GenerateData(), mitk::NavigationDataTransformFilter::GenerateData(), mitk::NavigationDataToOpenGLFilter::GenerateData(), mitk::NavigationDataLandmarkTransformFilter::GenerateData(), and mitk::NavigationDataDisplacementFilter::GenerateData().

void mitk::NavigationData::SetPositionAccuracy ( mitk::ScalarType error )

Set the position part of m_CovErrorMatrix to I*error^2 This means that all position variables are assumed to be independent

Definition at line 115 of file mitkNavigationData.cpp.

Referenced by mitk::TrackingDeviceSource::GenerateData().

{
  for ( int i = 0; i < 3; i++ )
    for ( int j = 0; j < 3; j++ ) 
    {
      m_CovErrorMatrix[ i ][ j ] = 0;
      // assume independence of position and orientation
      m_CovErrorMatrix[ i + 3 ][ j ] = 0;
      m_CovErrorMatrix[ i ][ j + 3 ] = 0;
    }
  m_CovErrorMatrix[0][0] = m_CovErrorMatrix[1][1] = m_CovErrorMatrix[2][2] = error * error;
}