A class implementing the communication with NDI's Trakstar electromagnetic tracker. More...

#include <TrakstarDevice.h>

Inheritance diagram for SurgSim::Devices::TrakstarDevice:

Public Member Functions
	TrakstarDevice (const std::string &uniqueName)
	Constructor. More...

	SURGSIM_CLASSNAME (SurgSim::Devices::TrakstarDevice)

virtual	~TrakstarDevice ()
	Destructor.

bool	initialize () override
	Fully initialize the device. More...

bool	isInitialized () const override

unsigned short	getSensorId () const

void	setSensorId (unsigned short id)
	Set the sensor ID, used by the SDK to select between attached sensors. More...

DataStructures::OptionalValue< double >	getOptionalUpdateRate () const

void	setOptionalUpdateRate (DataStructures::OptionalValue< double > rate)
	Set the optional update rate. More...

void	setUpdateRate (double rate)
	Set the update rate. More...

Public Member Functions inherited from SurgSim::Input::CommonDevice
	CommonDevice (const std::string &name)
	Constructor. More...

	CommonDevice (const std::string &name, const DataStructures::DataGroup &inputData)
	Constructor. More...

	CommonDevice (const std::string &name, DataStructures::DataGroup &&inputData)
	Constructor. More...

virtual	~CommonDevice ()
	Destructor.

std::string	getName () const override
	Return a (hopefully unique) device name.

std::string	getClassName () const override
	The class name for this class. More...

void	setNameForCallback (const std::string &name)
	Set the name used for calling the input consumers and output producer. More...

std::string	getNameForCallback () const
	Get the name used for calling the input consumers and output producer. More...

bool	addInputConsumer (std::shared_ptr< InputConsumerInterface > inputConsumer) override
	Adds an input consumer that will be notified when the application input state is updated. More...

bool	removeInputConsumer (std::shared_ptr< InputConsumerInterface > inputConsumer) override
	Removes an input consumer previously added via addInputConsumer. More...

void	clearInputConsumers () override
	Removes all InputConsumers.

bool	setOutputProducer (std::shared_ptr< OutputProducerInterface > outputProducer) override
	Sets an output producer that will be asked for application output state when the device needs it. More...

bool	removeOutputProducer (std::shared_ptr< OutputProducerInterface > outputProducer) override
	Removes an output producer previously added via setOutputProducer. More...

bool	hasOutputProducer () override
	Query if this object has output producer. More...

void	clearOutputProducer () override
	Removes any OutputProducer.

Public Member Functions inherited from SurgSim::Input::DeviceInterface
virtual	~DeviceInterface ()
	Virtual destructor (empty).

Public Member Functions inherited from SurgSim::Framework::Accessible
	Accessible ()
	Default Constructor.

	~Accessible ()
	Destructor.

template<class T >
T	getValue (const std::string &name) const
	Retrieves the value with the name by executing the getter if it is found and tries to convert it to the given type. More...

boost::any	getValue (const std::string &name) const
	Retrieves the value with the name by executing the getter if it is found. More...

template<class T >
bool	getValue (const std::string &name, T *value) const
	Retrieves the value with the name by executing the getter if it is found, and converts it to the type of the output parameter. More...

void	setValue (const std::string &name, const boost::any &value)
	Sets a value of a property that has setter. More...

bool	isReadable (const std::string &name) const
	Check whether a property is readable. More...

bool	isWriteable (const std::string &name) const
	Check whether a property is writable. More...

void	setGetter (const std::string &name, GetterType func)
	Sets a getter for a given property. More...

void	setSetter (const std::string &name, SetterType func)
	Sets a setter for a given property. More...

void	setAccessors (const std::string &name, GetterType getter, SetterType setter)
	Sets the accessors getter and setter in one function. More...

void	removeAccessors (const std::string &name)
	Removes all the accessors (getter and setter) for a given property. More...

void	forwardProperty (const std::string &name, const Accessible &target, const std::string &targetProperty)
	Adds a property with the given name that uses the targets accessors, in effect forwarding the value to the target. More...

void	setSerializable (const std::string &name, EncoderType encoder, DecoderType decoder)
	Sets the functions used to convert data from and to a YAML::Node. More...

void	setDecoder (const std::string &name, DecoderType decoder)
	Sets the functions used to convert data from a YAML::Node. More...

YAML::Node	encode () const
	Encode this Accessible to a YAML::Node. More...

void	decode (const YAML::Node &node, const std::vector< std::string > &ignoredProperties=std::vector< std::string >())
	Decode this Accessible from a YAML::Node, will throw an exception if the data type cannot be converted. More...

std::vector< std::string >	getProperties ()

template<>
boost::any	getValue (const std::string &name) const

Friends
class	TrakstarScaffold

Additional Inherited Members
Public Types inherited from SurgSim::Framework::Accessible
typedef std::function< boost::any(void)>	GetterType

typedef std::function< void(boost::any)>	SetterType

typedef std::function< YAML::Node(void)>	EncoderType

typedef std::function< void(const YAML::Node *)>	DecoderType

Public Types inherited from SurgSim::Framework::FactoryBase1< DeviceInterface, std::string >
typedef ObjectFactory1< DeviceInterface, std::string >	FactoryType

Static Public Member Functions inherited from SurgSim::Framework::FactoryBase1< DeviceInterface, std::string >
static FactoryType &	getFactory ()

Protected Member Functions inherited from SurgSim::Input::CommonDevice
virtual void	pushInput ()
	Push application input to consumers.

virtual bool	pullOutput ()
	Pull application output from a producer.

DataStructures::DataGroup &	getInputData ()
	Getter for the input data DataGroup. More...

const DataStructures::DataGroup &	getOutputData () const
	Getter for the output data DataGroup. More...

Detailed Description

A class implementing the communication with NDI's Trakstar electromagnetic tracker.

Application input provided by the device:

type	name
pose	"pose"	Device pose (units are meters).
scalar	"time"	The time returned with the record.
scalar	"quality"	The record's quality measure.

The standard directions for the front hemisphere are: +x out of the transmitter face, +z out of the transmitter bottom, and +y to the left if you are looking at the face of the transmitter.

Application output used by the device: none.

See also: SurgSim::Input::CommonDevice, SurgSim::Input::DeviceInterface

Constructor & Destructor Documentation

§ TrakstarDevice()

SurgSim::Devices::TrakstarDevice::TrakstarDevice ( const std::string & uniqueName )

explicit

Constructor.

Parameters

uniqueName A unique name for the device.

Member Function Documentation

§ getOptionalUpdateRate()

DataStructures::OptionalValue< double > SurgSim::Devices::TrakstarDevice::getOptionalUpdateRate ( ) const

Returns: The optional update rate.

§ getSensorId()

unsigned short SurgSim::Devices::TrakstarDevice::getSensorId ( ) const

Returns: The sensor ID.

§ initialize()

bool SurgSim::Devices::TrakstarDevice::initialize ( )

overridevirtual

Fully initialize the device.

When the manager object creates the device, the internal state of the device usually isn't fully initialized yet. This method performs any needed initialization.

Implements SurgSim::Input::DeviceInterface.

§ isInitialized()

bool SurgSim::Devices::TrakstarDevice::isInitialized ( ) const

overridevirtual

Returns: true if the device has been initialized and has not yet been finalized.

Implements SurgSim::Input::DeviceInterface.

§ setOptionalUpdateRate()

void SurgSim::Devices::TrakstarDevice::setOptionalUpdateRate ( DataStructures::OptionalValue< double > rate )

Set the optional update rate.

Cannot be called after initialization.

Parameters

rate	The optional update rate.

§ setSensorId()

void SurgSim::Devices::TrakstarDevice::setSensorId ( unsigned short id )

Set the sensor ID, used by the SDK to select between attached sensors.

Cannot be called after initialization. The default sensor ID is 0.

Parameters

id	The sensor ID.

§ setUpdateRate()

void SurgSim::Devices::TrakstarDevice::setUpdateRate ( double rate )

Set the update rate.

This call sets the update rate for the shared scaffold, so devices cannot set it to different values. The default (factory-set) update rate is 240Hz, but that can be changed Cannot be called after initialization.

Parameters

rate	The update rate in Hz, must be >=60Hz and <=765Hz.

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

SurgSim/Devices/Trakstar/TrakstarDevice.h
SurgSim/Devices/Trakstar/TrakstarDevice.cpp

Public Member Functions

Friends

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

§ TrakstarDevice()

Member Function Documentation

§ getOptionalUpdateRate()

§ getSensorId()

§ initialize()

§ isInitialized()

§ setOptionalUpdateRate()

§ setSensorId()

§ setUpdateRate()