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/*=========================================================================
Program: Image Guided Surgery Software Toolkit
Module: $RCSfile: igstkCircularSimulatedTracker.cxx,v $
Language: C++
Date: $Date: 2011-01-18 21:40:16 $
Version: $Revision: 1.5 $
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.
=========================================================================*/
#if defined(_MSC_VER)
// Warning about: identifier was truncated to '255' characters in
// the debug information (MVC6.0 Debug)
#pragma warning( disable : 4786 )
#endif
#include "igstkCircularSimulatedTracker.h"
namespace igstk
{
CircularSimulatedTracker::CircularSimulatedTracker():m_StateMachine(this)
{
this->m_Radius = 1.0;
this->m_Angle = 0.0;
this->m_AngularSpeed = 0.01; // degrees per second
this->m_TimeOfLastUpdate = RealTimeClock::GetTimeStamp();
double validityTime = 1000.0;
double trackerFrequency = 1000.0 / (validityTime - 10);
this->RequestSetFrequency(trackerFrequency );
}
CircularSimulatedTracker::~CircularSimulatedTracker()
{
}
CircularSimulatedTracker::ResultType
CircularSimulatedTracker::InternalOpen( void )
{
return SUCCESS;
}
CircularSimulatedTracker::ResultType
CircularSimulatedTracker::InternalStartTracking( void )
{
return SUCCESS;
}
CircularSimulatedTracker::ResultType
CircularSimulatedTracker::InternalReset( void )
{
return SUCCESS;
}
CircularSimulatedTracker::ResultType
CircularSimulatedTracker::InternalStopTracking( void )
{
return SUCCESS;
}
CircularSimulatedTracker::ResultType
CircularSimulatedTracker::InternalClose( void )
{
return SUCCESS;
}
CircularSimulatedTracker::ResultType
CircularSimulatedTracker::VerifyTrackerToolInformation(
TrackerToolType * itkNotUsed(trackerTool) )
{
return SUCCESS;
}
CircularSimulatedTracker::ResultType
CircularSimulatedTracker::InternalUpdateStatus( void )
{
igstkLogMacro( DEBUG,
"CircularSimulatedTracker::InternalUpdateStatus called ...\n");
typedef TrackerToolsContainerType::const_iterator ConstIteratorType;
TrackerToolsContainerType trackerToolContainer =
this->GetTrackerToolContainer();
ConstIteratorType inputItr = trackerToolContainer.begin();
ConstIteratorType inputEnd = trackerToolContainer.end();
typedef igstk::Transform TransformType;
TransformType transform;
transform.SetToIdentity( this->GetValidityTime() );
typedef TransformType::VectorType PositionType;
PositionType position;
position[0] = cos( this->m_Angle ) * this->m_Radius;
position[1] = sin( this->m_Angle ) * this->m_Radius;
position[2] = 0;
typedef TransformType::ErrorType ErrorType;
ErrorType errorValue = 0.5; // +/- half millimeter Uncertainty
transform.SetTranslation( position, errorValue, this->GetValidityTime() );
// set the raw transform in all the tracker tools
while( inputItr != inputEnd )
{
this->SetTrackerToolRawTransform(
trackerToolContainer[inputItr->first], transform );
this->SetTrackerToolTransformUpdate(
trackerToolContainer[inputItr->first], true );
++inputItr;
}
const double MillisecondsToSeconds = 1.0 / 1000.0;
const double DegreesToRadians = ( atan(1.0) / 45.0 );
const RealTimeClock::TimeStampType timeNow = RealTimeClock::GetTimeStamp();
const RealTimeClock::TimeStampType timeLapseInSeconds =
MillisecondsToSeconds * ( timeNow - this->m_TimeOfLastUpdate );
this->m_Angle +=
DegreesToRadians * this->m_AngularSpeed * timeLapseInSeconds;
this->m_TimeOfLastUpdate = timeNow;
return SUCCESS;
}
SimulatedTracker::ResultType
CircularSimulatedTracker::InternalThreadedUpdateStatus( void )
{
return FAILURE;
}
CircularSimulatedTracker::ResultType
CircularSimulatedTracker
::RemoveTrackerToolFromInternalDataContainers
( const TrackerToolType * itkNotUsed(trackerTool) )
{
return FAILURE;
}
/** Print Self function */
void CircularSimulatedTracker::PrintSelf(
std::ostream& os, itk::Indent indent ) const
{
Superclass::PrintSelf(os, indent);
os << indent << "Radius: " << this->m_Radius << std::endl;
os << indent << "Angle: " << this->m_Angle << std::endl;
os << indent << "Angular Speed: " << this->m_AngularSpeed << std::endl;
os << indent << "Time of Last Update : ";
os << this->m_TimeOfLastUpdate << std::endl;
}
}
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