1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
|
/*=========================================================================
Program: The OpenIGTLink Library
Language: C++
Web page: http://openigtlink.org/
Copyright (c) Insight Software Consortium. All rights reserved.
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 __igtlPositionMessage_h
#define __igtlPositionMessage_h
#include "igtlObject.h"
#include "igtlMath.h"
#include "igtlMessageBase.h"
#include "igtlTypes.h"
namespace igtl
{
/// The POSITION data type is used to transfer position and orientation information.
/// The data are a combination of 3-dimensional vector for the position and quaternion
/// for the orientation. Although equivalent position and orientation can be described
/// with the TRANSFORM data type, the POSITION data type has the advantage of smaller
/// data size (19%). It is therefore more suitable for pushing high frame-rate data
/// from tracking devices.
class IGTLCommon_EXPORT PositionMessage: public MessageBase
{
public:
/// Types of message formats. The format of the POSITION message type can contain
/// only a 3-element position vector (POSITION_ONLY), a combination of 3-element
/// position vector and 3-element quaternion (WITH_QUATERNION3), or a combination
/// of 3-element position vector and 4-element quaternion (ALL).
enum {
POSITION_ONLY = 1,
WITH_QUATERNION3,
ALL,
};
public:
typedef PositionMessage Self;
typedef MessageBase Superclass;
typedef SmartPointer<Self> Pointer;
typedef SmartPointer<const Self> ConstPointer;
igtlTypeMacro(igtl::PositionMessage, igtl::MessageBase);
igtlNewMacro(igtl::PositionMessage);
public:
/// Initializes the class.
void Init();
/// Sets the type of the pack. 't' must be either POSITION_ONLY, WITH_QUATERNION3, or ALL.
void SetPackType(int t); /* POSITION_ONLY / WITH_QUATERNION3 / ALL */
/// Gets the type of the pack. The returned value must be either POSITION_ONLY, WITH_QUATERNION3, or ALL.
int GetPackType() { return m_PackType; };
/// Specifies the pack type by body size (in most case obtained from general header).
int SetPackTypeByContentSize(int s);
/// Sets the position by 3-element array of x, y, and z coordinates.
void SetPosition(const float* pos);
/// Sets the position by x, y, and z coordinates.
void SetPosition(float x, float y, float z);
/// Sets the quaternion by 4-element array.
void SetQuaternion(const float* quat);
/// Sets the quaternion by elements of the quaternion (ox, oy, oz and w).
void SetQuaternion(float ox, float oy, float oz, float w);
/// Gets the position. The function substitutes 3-element array of x, y and z coordinates in 'pos'.
void GetPosition(float* pos);
/// Gets the position. The function substitutes the coordinates in 'x', 'y', and 'z'.
void GetPosition(float* x, float* y, float* z);
/// Gets the quaternion. The function substitutes the array of elements of the quaternion in 'quat'.
void GetQuaternion(float* quat);
/// Gets the quaternion. The function substitutes the elements of the quaternion in 'ox', 'oy', 'oz' and 'w'.
void GetQuaternion(float* ox, float* oy, float* oz, float* w);
/// Sets the message header.
// TODO: Is this needed or integrated in igtlMessageBase?
virtual int SetMessageHeader(const MessageHeader* mb);
protected:
PositionMessage();
~PositionMessage();
protected:
virtual int CalculateContentBufferSize();
virtual int PackContent();
virtual int UnpackContent();
/// The type of message formats (either POSITION_ONLY, WITH_QUATERNION3, or ALL).
igtlInt32 m_PackType;
/// An array of x, y, and z coordinates for the position.
igtlFloat32 m_Position[3];
/// An array of ox, oy, oz, and w elements for the quaternion.
igtlFloat32 m_Quaternion[4];
};
} // namespace igtl
#endif // _igtlPositionMessage_h
|
