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ImFusion SDK 4.3
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ImFusion SDK 4.3
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Inheritance diagram for RobotUSTrackingStream:Public Member Functions | |
| RobotUSTrackingStream (const DataList &dl, const std::string &streamName="Robot US Tracking Stream") | |
| RobotUSTrackingStream (RobotStateStream *stream, const std::string &streamName="Robot US Tracking Stream") | |
| Public Member Functions inherited from RobotTrackingStream | |
| RobotTrackingStream (const DataList &dl, const std::string &streamName="Robot Tracking Stream") | |
| Create tracking stream from the available data (RobotStateStream) from the DataList. | |
| RobotTrackingStream (RobotStateStream *stream, const std::string &streamName="Robot Tracking Stream") | |
| Establish robot tracking stream and connect to the RobotStateStream's update signal to recieve real-time robot data. | |
| ~RobotTrackingStream () override | |
| Explicitly calls close() to ensure proper cleanup of robot state monitoring. | |
| Kind | kind () const override |
| Obtain stream type based on SDK convention. | |
| Pose::TransformationConvention | matrixConvention () const override |
| Obtain coordinate convention for all the transformations. | |
| bool | openImpl () override |
| Initialize stream resources. | |
| bool | closeImpl () override |
| Clean up stream resources. | |
| bool | startImpl () override |
| Start tracking (begin data streaming) - controlled by the RobotStateStream. | |
| bool | stopImpl () override |
| Stop tracking (pause data streaming) - controlled by the RobotStateStream. | |
| std::optional< Stream::WorkContinuation > | doWork () override |
| Process work cycle - updates handled by signals (no background work needed) | |
| std::string | uuid () override |
| Generate unique identifier from object address. | |
| std::vector< TrackingInstrument > | devices () const override |
| Get thread-safe snapshot of current tracking instruments. | |
| Public Member Functions inherited from TrackingStream | |
| TrackingStream (const std::string &name="Tracking Stream") | |
| virtual std::vector< TrackingInstrument > | instruments () const |
| Returns a copy of all tracking instruments (active and inactive) with their last status. | |
| virtual std::vector< TrackingInstrument > | activeInstruments () const |
| Returns a copy of all active tracking instruments with their last status. | |
| virtual int | numInstruments (bool activeOnly=false) const |
| Returns the number of instruments (all or only active instruments). | |
| Kind | kind () const override |
| Returns the kind of stream. | |
| void | setMainInstrument (unsigned int index) |
| Sets the index of the main tracking target. | |
| virtual bool | supportsMainInstrumentSelection () const |
| Returns true if main instrument can be set from outside. | |
| void | setMainInstrumentById (const std::string &id) |
| Sets the main tracking target by the ID of the TrackingInstrument (TrackerID::m_id). | |
| unsigned int | mainInstrumentIndex () const |
| Returns the index of the main tracking target in the instruments array. | |
| std::string | mainInstrumentId () const |
| Returns the unique ID of the main instrument. | |
| std::string | mainInstrumentName () const |
| Returns the name of the main instrument. | |
| virtual bool | supportsInstrumentRenaming () const |
| Returns true if the name of an instrument can be set from outside. | |
| void | setInstrumentName (const std::string &id, const std::string &name) |
| Sets the name of the TrackingInstrument for the specified id. | |
| void | setInstrumentActive (const std::string &id, bool active) |
| Sets the tracking instrument with the given ID as either active or inactive. | |
| bool | isInstrumentActive (const std::string &id) const |
| Returns whether the instrument with the given ID is active. | |
| std::optional< TrackingInstrument > | queryInstrument (const std::string &id) const |
| Queries the instrument with the given ID from m_instruments. | |
| std::string | describe () const override |
| Provides a short description of the stream, including the number of instruments, latest stream state, and update rate information. | |
| Public Member Functions inherited from Stream | |
| Stream (const std::string &name="") | |
Constructor with the name for this stream. | |
| virtual ThreadingMode | threadingMode () const |
| Configures threading mode of stream. | |
| virtual bool | supportsAsyncOperation () |
| Returns true if xxxAsync() methods support execution in a background thread. | |
| std::shared_future< bool > | openAsync () |
| Open stream in an asynchronous fashion (wait on the returned future before taking further actions). Returns whether the operation was successful. | |
| std::shared_future< bool > | closeAsync () |
| Close stream in an asynchronous fashion (wait on the returned future before taking further actions). Returns whether the operation was successful. | |
| std::shared_future< bool > | startAsync () |
| Start stream in an asynchronous fashion (wait on the returned future before taking further actions). Returns whether the operation was successful. | |
| std::shared_future< bool > | stopAsync () |
| Stop stream in an asynchronous fashion (wait on the returned future before taking further actions). Returns whether the operation was successful. | |
| std::shared_future< bool > | pauseAsync () |
| Pause stream in an asynchronous fashion (wait on the returned future before taking further actions). Returns whether the operation was successful. | |
| std::shared_future< bool > | resumeAsync () |
| Resume stream in an asynchronous fashion (wait on the returned future before taking further actions). Returns whether the operation was successful. | |
| bool | open () |
| Open stream and wait for the operation to complete. Returns whether the operation was successful. | |
| bool | close () |
| Close stream and wait for the operation to complete. Returns whether the operation was successful. | |
| bool | start () |
| Start stream and wait for the operation to complete. Returns whether the operation was successful. | |
| bool | stop () |
| Stop stream and wait for the operation to complete. Returns whether the operation was successful. | |
| bool | pause () |
| Pause stream and wait for the operation to complete. Returns whether the operation was successful. | |
| bool | resume () |
| Resume stream and wait for the operation to complete. Returns whether the operation was successful. | |
| virtual bool | supportsPausing () const |
| Override and return true if this stream implements the pausing and resume operations. | |
| bool | restart () |
| Stops, closes, opens and starts the stream. Returns whether the operation was successful. | |
| virtual bool | reset () |
| Reverts stream to first frame, if possible. Returns whether the operation was successful. | |
| virtual bool | isRunning () const |
| Return whether stream is currently running. | |
| State | currentState () const |
| bool | isStateOneOf (const std::vector< State > &states) const |
| Geometry::AlignedBox | bounds () const override |
| Per default a Stream has empty/invalid bounds. | |
| Pose::TransformationConvention | matrixConvention () const override |
| Matrices of streams by default map to the world coordinate system. | |
| virtual bool | createDefaultStreamController () |
| Indicates whether a StreamController should be created for the stream (by default returns true). | |
| double | updateRate () const |
Average update rate in Hz of the signalStreamData. | |
| Public Member Functions inherited from Data | |
| Data (const std::string &name="") | |
| Data (const Data &other) | |
| Data & | operator= (const Data &other) |
| virtual | ~Data () |
| Mandatory virtual destructor. | |
| virtual Modality | modality () const |
| Return the modality of this data. | |
| const std::string & | name () const |
| Return the name of this data. | |
| void | setName (const std::string &name) |
| Sets the name of this data. | |
| virtual bool | isAnnotationType () const |
| Return whether this data type is visualized through an annotation (e.g. mesh) | |
| const DataComponentList & | components () const |
| Returns the list of DataComponents for this data. | |
| DataComponentList & | components () |
| virtual void | setMatrixFromWorld (const mat4 &m) |
| Set matrix mapping from the world coordinate system to the data coordinate system. | |
| virtual void | setMatrixToWorld (const mat4 &m) |
| Set matrix mapping from the data coordinate system to the world coordinate system. | |
| virtual mat4 | matrixFromWorld () const |
| Get matrix mapping from the world coordinate system to the data coordinate system. | |
| virtual mat4 | matrixToWorld () const |
| Get matrix mapping from the data coordinate system to the world coordinate system. | |
| virtual mat4 | matrix () const |
| Return the transformation matrix. | |
| virtual void | setMatrix (const mat4 &m) |
| Set the transformation matrix. | |
| Public Member Functions inherited from Configurable | |
| virtual void | configure (const Properties *p) |
| Configure this object instance by de-serializing the given Properties. | |
| virtual void | configuration (Properties *p) const |
| Serialize the current object configuration into the given Properties object. | |
| virtual void | configureDefaults () |
| Retrieve the properties of this object, replaces values with their defaults and sets it again. | |
| void | registerParameter (ParameterBase *param) |
| Register the given Parameter or SubProperty, so that it will be configured during configure()/configuration(). | |
| void | unregisterParameter (const ParameterBase *param) |
| Remove the given Parameter or SubProperty from the list of registered parameters. | |
| Configurable (const Configurable &rhs) | |
| Configurable (Configurable &&rhs) noexcept | |
| Configurable & | operator= (const Configurable &) |
| Configurable & | operator= (Configurable &&) noexcept |
| Public Member Functions inherited from SignalReceiver | |
| SignalReceiver ()=default | |
| Default constructor. | |
| SignalReceiver (const SignalReceiver &other) | |
| Copy constructor, does not copy any existing signal connections from other. | |
| SignalReceiver & | operator= (SignalReceiver rhs) |
| Assignment operator, disconnects all existing connections, does not copy any existing signal connections from rhs. | |
| virtual | ~SignalReceiver () |
| Virtual destructor disconnects from all connected signals. | |
Protected Member Functions | |
| std::vector< TrackingInstrument > | computeInstruments (const RobotState &robotState) const override |
| Convert robot state into tracking instruments. | |
| Protected Member Functions inherited from TrackingStream | |
| void | emitSignals (const InstrumentUpdate &update) |
| Convenience method to be called after any instrument modification. | |
| std::unique_ptr< TrackingStreamData > | createTrackingStreamData () |
| Creates the TrackingStreamData with a copy of all instruments and sets the timestamps. | |
| Protected Member Functions inherited from Stream | |
| virtual bool | pauseImpl () |
| Pause stream (not required to be supported). | |
| virtual bool | resumeImpl () |
| Resume stream from pause (only required to be supported when pauseImpl() is supported). | |
| virtual bool | workerThreadRequiresOpenGl () const |
| Override and return true if worker thread should create a GL::Context. | |
| virtual bool | worksWhilePaused () const |
| Override if doWork() should be called also in the Paused state. | |
| void | changeState (State newState) |
| std::shared_future< bool > | attemptStateChange (std::function< bool()> work, State stateWorking, State stateSuccess, State stateError) |
| Protected Member Functions inherited from Data | |
| void | swapWith (Data &other) |
| Swaps the data and emits a matrix and name changed signal for both. | |
| Protected Member Functions inherited from SignalReceiver | |
| void | disconnectAll () |
| Disconnects all existing connections. | |
Additional Inherited Members | |
| Public Types inherited from Stream | |
| enum class | ThreadingMode { BaseClassRunsWorkerThread , DerivedClassHandlesThreading } |
| This flag represents the two supported threading modes of a Stream. More... | |
| enum class | State { Closed , Opening , Open , Starting , Running , Pausing , Paused , Resuming , Stopping , Closing } |
| Public Types inherited from Data | |
| enum | Kind { UNKNOWN = 0 , IMAGE = 1 , VOLUME = 2 , IMAGESET = 3 , VOLUMESET = 4 , IMAGESTREAM = 5 , VOLUMESTREAM = 6 , POINTSET = 7 , SURFACE = 8 , TRACKINGSTREAM = 9 , LIVETRACKINGSTREAM = TRACKINGSTREAM , TRACKINGDATA = 10 , TREE = 11 , TENSOR = 12 , POLYDATASTREAM = 13 , STEREOIMAGESET = 14 , STEREOIMAGESTREAM = 15 , VOLUMETRICMESH = 16 } |
| Kind of data. More... | |
| enum | Modality { NA = 0 , XRAY = 1 , CT = 2 , MRI = 3 , ULTRASOUND = 4 , VIDEO = 5 , NM = 6 , OCT = 7 , LABEL = 8 , DISTANCE = 9 } |
| Image modality of the data. More... | |
| Static Public Member Functions inherited from RobotTrackingStream | |
| static bool | isCompatible (const DataList &data) |
| Validate if the ImFusion SDK can create this stream from the available data. | |
| Static Public Member Functions inherited from Stream | |
| static std::string | stateToString (State state) |
| Static Public Member Functions inherited from Data | |
| static std::string | modalityString (Data::Modality m) |
| Return the name of an image modality. | |
| static Data::Modality | stringToModality (const std::string &s) |
| Returns the modality corresponding to a modality string or NA if nothing matches. | |
| Public Attributes inherited from TrackingStream | |
| ProtectedSignal & | signalTrackingDevicesUpdated |
| Emitted when the list of instruments is updated. | |
| ProtectedSignal | signalInstrumentsUpdated |
| Emitted when the list of instruments is altered (instrument added, instrument removed, or list cleared). | |
| ProtectedSignal< const std::string & > | signalMainInstrumentChanged |
| Emitted when the main instrument has changed, with the new instrument ID. | |
| Public Attributes inherited from Stream | |
| ProtectedSignal< StateChange > | signalStateChanged |
| Emitted after a state change has been completed with the old and new state. | |
| ProtectedSignal | signalEnded |
| Indicates that the stream reached the end of its data, e.g. when a video stream has played to the end. | |
| ProtectedSignal< std::shared_ptr< const StreamData > > | signalStreamData |
| Signal that is emitted by the stream when a new StreamData is available. | |
| DeprecatedSignal< ProtectedSignal< std::shared_ptr< const StreamData > >, const StreamData & > | signalNewData |
| Signal that is emitted by the stream when a new StreamData is available. | |
| Public Attributes inherited from Data | |
| Signal< const Data * > | signalDeleted |
| Signal emitted when this instance is deleted. | |
| Signal< const Data * > | signalMatrixChanged |
| Signal emitted when the transformation of this Data has changed. | |
| Signal< std::string > | signalNameChanged |
| Signal emitted when the name changed. | |
| Public Attributes inherited from Configurable | |
| Signal | signalParametersChanged |
Emitted whenever one of the registered Parameters' or SubPropertys' signalValueChanged signal was emitted. | |
| Protected Attributes inherited from TrackingStream | |
| std::unique_ptr< ThreadSafeInstrumentsBase > | m_instruments |
| Container for TrackingInstruments of this tracking stream. | |
| Protected Attributes inherited from Data | |
| mat4 | m_matrix |
| Transformation matrix. | |
| std::recursive_mutex * | m_matrixMutex |
| Used to internally synchronize access to the matrix of data. | |
| DataComponentList | m_dataComponentList |
| The list of DataComponents for this data. | |
| Protected Attributes inherited from Configurable | |
| std::vector< Param > | m_params |
| List of all registered Parameter and SubProperty instances. | |
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overrideprotectedvirtual |
Convert robot state into tracking instruments.
Reimplemented from RobotTrackingStream.
