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/*=========================================================================
Program: Image Guided Surgery Software Toolkit
Module: $RCSfile: PivotCalibrationFLTKWidgetExample.h,v $
Language: C++
Date: $Date: 2009-06-08 20:56:31 $
Version: $Revision: 1.1 $
Copyright (c) ISC Insight Software Consortium. All rights reserved.
See IGSTKCopyright.txt or http://www.igstk.org/copyright.htm for details.
This software is distributed WITHOUT ANY WARRANTY; without even
the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR
PURPOSE. See the above copyright notices for more information.
=========================================================================*/
#ifndef __PivotCalibrationFLTKWidgetExample_h
#define __PivotCalibrationFLTKWidgetExample_h
#include "itkCommand.h"
#include "igstkPolarisTracker.h"
#include "igstkPolarisTrackerTool.h"
#include "igstkSerialCommunication.h"
#include "PivotCalibrationFLTKWidgetExampleUI.h"
class PivotCalibrationFLTKWidgetExample :
public PivotCalibrationFLTKWidgetExampleUI
{
public:
PivotCalibrationFLTKWidgetExample();
virtual void InitializeTrackingAndCalibration();
virtual void SaveCalibration();
private:
//pivot calibration get transform observer
igstkObserverMacro( TransformTo,
igstk::CoordinateSystemTransformToEvent,
igstk::CoordinateSystemTransformToResult )
TransformToObserver::Pointer m_TransformToObserver;
//pivot calibration get RMSE observer
igstkObserverMacro( RMSE,
igstk::DoubleTypeEvent,
igstk::EventHelperType::DoubleType )
RMSEObserver::Pointer m_RMSEObserver;
//pivot calibration success/failure observer
typedef itk::MemberCommand<PivotCalibrationFLTKWidgetExample>
CalibrationSuccessFailureObserverType;
void OnCalibrationSuccessFailureEvent( itk::Object *caller,
const itk::EventObject & event );
CalibrationSuccessFailureObserverType::Pointer m_CalibrationSuccessFailureObserver;
//observer for write failure event
typedef itk::MemberCommand<PivotCalibrationFLTKWidgetExample>
WriteFailureObserverType;
void OnWriteFailureEvent( itk::Object *caller,
const itk::EventObject & event );
/* Observe all tracking related errors, those generated by the tracker and
the serial communication*/
class TrackingErrorObserver : public itk::Command
{
public:
typedef TrackingErrorObserver Self;
typedef ::itk::Command Superclass;
typedef ::itk::SmartPointer<Self> Pointer;
typedef ::itk::SmartPointer<const Self> ConstPointer;
igstkNewMacro(Self)
igstkTypeMacro(IGSTKErrorObserver, itk::Command)
/*
* When an error occurs in the tracker or serial communicaiton component
* it will invoke this method with the appropriate error event object as
* a parameter. */
void Execute(itk::Object *caller, const itk::EventObject & event);
/*
* When an error occurs in the tracker or serial communicaiton component
* it will invoke this method with the appropriate error event object as
* a parameter. */
void Execute(const itk::Object *caller, const itk::EventObject & event);
/**
* Clear the current error. */
void ClearError();
/**
* If an error occured in the tracker or serial communication this method
* will return true. */
bool Error();
protected:
/**
* Construct an error observer for all the possible errors that occur in
* the tracker and serial communication classes. */
TrackingErrorObserver();
virtual ~TrackingErrorObserver(){}
private:
/**
* member variables
*/
bool m_ErrorOccured;
std::map<std::string,std::string> m_ErrorEvent2ErrorMessage;
//purposely not implemented
TrackingErrorObserver(const Self&);
void operator=(const Self&);
};
//constant settings for the serial communication
static const igstk::SerialCommunication::ParityType PARITY;
static const igstk::SerialCommunication::BaudRateType BAUD_RATE;
static const igstk::SerialCommunication::DataBitsType DATA_BITS;
static const igstk::SerialCommunication::StopBitsType STOP_BITS;
static const igstk::SerialCommunication::HandshakeType HAND_SHAKE;
igstk::PolarisTracker::Pointer m_tracker;
igstk::PolarisTrackerTool::Pointer m_tool;
igstk::SerialCommunication::Pointer m_serialCommunication;
TrackingErrorObserver::Pointer m_errorObserver;
bool m_initialized;
};
#endif //_PIVOT_CALIBRATION_FLTK_WIDGET_EXAMPLE_H_
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