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/*=========================================================================
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 __igtlTransformMessage_h
#define __igtlTransformMessage_h
#include "igtlObject.h"
#include "igtlMath.h"
#include "igtlMessageBase.h"
namespace igtl
{
/// A class for the GET_TRANS message type.
class IGTLCommon_EXPORT GetTransformMessage: public HeaderOnlyMessageBase
{
public:
typedef GetTransformMessage Self;
typedef HeaderOnlyMessageBase Superclass;
typedef SmartPointer<Self> Pointer;
typedef SmartPointer<const Self> ConstPointer;
igtlTypeMacro(igtl::GetTransformMessage, igtl::HeaderOnlyMessageBase);
igtlNewMacro(igtl::GetTransformMessage);
protected:
GetTransformMessage() : HeaderOnlyMessageBase() { this->m_SendMessageType = "GET_TRANS"; };
~GetTransformMessage() {};
};
/// The TRANSFORM data type is used to transfer a homogeneous linear transformation
/// in 4-by-4 matrix form. One such matrix was shown earlier in equation (1).
/// Note that if a device is sending only translation and rotation, then TRANSFORM
/// is equivalent to POSITION. But TRANSFORM can also be used to transfer affine
/// transformations or simple scaling. Like IMAGE and POSITION, TRANSFORM carries
/// information about the coordinate system used.
class IGTLCommon_EXPORT TransformMessage: public MessageBase
{
public:
typedef TransformMessage Self;
typedef MessageBase Superclass;
typedef SmartPointer<Self> Pointer;
typedef SmartPointer<const Self> ConstPointer;
igtlTypeMacro(igtl::TransformMessage, igtl::MessageBase);
igtlNewMacro(igtl::TransformMessage);
public:
/// Sets a position (or a translation vector) in the RAS coordinate system.
void SetPosition(float p[3]);
/// Gets a position (or a translation vector) in the RAS coordinate system.
void GetPosition(float p[3]);
/// Sets a position (or a translation vector) in the RAS coordinate system.
void SetPosition(float px, float py, float pz);
/// Gets a position (or a translation vector) in the RAS coordinate system.
void GetPosition(float* px, float* py, float* pz);
/// Sets normal vectors (or a rotation matrix) in the RAS coordinate system.
void SetNormals(float o[3][3]);
/// Gets normal vectors (or a rotation matrix) in the RAS coordinate system.
void GetNormals(float o[3][3]);
/// Sets normal vectors (or a rotation matrix) in the RAS coordinate system.
void SetNormals(float t[3], float s[3], float n[3]);
/// Gets normal vectors (or a rotation matrix) in the RAS coordinate system.
void GetNormals(float t[3], float s[3], float n[3]);
/// Sets rotation matrix using igtl::Matrix4x4.
void SetMatrix(Matrix4x4& mat);
/// Sets rotation matrix using igtl::Matrix4x4.
void GetMatrix(Matrix4x4& mat);
protected:
TransformMessage();
~TransformMessage();
protected:
virtual int CalculateContentBufferSize();
virtual int PackContent();
virtual int UnpackContent();
/// The transformation matrix.
Matrix4x4 matrix;
/// The byte array for the serialized transform data.
unsigned char* m_Transform;
};
} // namespace igtl
#endif // _igtlTransformMessage_h
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