vtkPlusPhantomLinearObjectRegistrationAlgo.h

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/*=Plus=header=begin======================================================
Program: Plus
Copyright (c) Laboratory for Percutaneous Surgery. All rights reserved.
See License.txt for details.
=========================================================Plus=header=end*/ 

#ifndef __vtkPlusPhantomLinearObjectRegistrationAlgo_h
#define __vtkPlusPhantomLinearObjectRegistrationAlgo_h

#include "vtkPlusCalibrationExport.h"

#include "Plane.h"
#include "Planes.h"
#include "Reference.h"
#include "References.h"
#include "PlusConfigure.h"
#include "vtkDoubleArray.h"
#include "vtkMatrix4x4.h"
#include "vtkObject.h"
#include "vtkPoints.h"

//class vtkIGSIOTransformRepository;
class vtkXMLDataElement;

//-----------------------------------------------------------------------------

class vtkPlusCalibrationExport vtkPlusPhantomLinearObjectRegistrationAlgo : public vtkObject
{
public:
  vtkTypeMacro(vtkPlusPhantomLinearObjectRegistrationAlgo,vtkObject);
  static vtkPlusPhantomLinearObjectRegistrationAlgo *New();

public:
  PlusStatus LinearObjectRegister(vtkIGSIOTransformRepository* aTransformRepository = NULL);

  PlusStatus ReadConfiguration(vtkXMLDataElement* aConfig);

  std::string GetDefinedPlaneName(int aIndex) { return this->DefinedPlaneNames[aIndex]; };

  Planes* GetDefinedPlanesFromXML();

  Planes* GetUserRecordedPlanes();

  PlusStatus InsertNextCalibrationPoint(vtkMatrix4x4* aMarkerToReferenceTransformMatrix);

  PlusStatus Initialize();

  static std::string GetConfigurationElementName() { return vtkPlusPhantomLinearObjectRegistrationAlgo::ConfigurationElementName; };

public:

  vtkGetMacro(RegistrationError, double);

  vtkGetObjectMacro(PhantomToReferenceTransformMatrix, vtkMatrix4x4); 
  vtkSetObjectMacro(PhantomToReferenceTransformMatrix, vtkMatrix4x4);

  vtkGetObjectMacro(RecordedPoints, vtkPoints);

  vtkGetStringMacro(PhantomCoordinateFrame);
  vtkGetStringMacro(ReferenceCoordinateFrame);
  vtkGetStringMacro(StylusTipCoordinateFrame);

protected:
  PlusStatus ComputeError();

  /*Sets the planes that are described in the configuration file (defined in the phantom coordinate system)*/
  void SetDefinedPlanesFromXML(Planes* planes);

  void SetRecordedPlanes(Planes* planes);

protected:
  vtkSetObjectMacro(RecordedPoints, vtkPoints);

  vtkSetObjectMacro(MarkerToReferenceTransformMatrixArray, vtkDoubleArray);

  vtkSetStringMacro(PhantomCoordinateFrame);
  vtkSetStringMacro(ReferenceCoordinateFrame);
  vtkSetStringMacro(StylusTipCoordinateFrame);

protected:
  vtkPlusPhantomLinearObjectRegistrationAlgo();
  virtual  ~vtkPlusPhantomLinearObjectRegistrationAlgo();

protected:
  /*Names of the planes defined in the configuration file*/
  std::vector<std::string>  DefinedPlaneNames;

  Planes                    DefinedPlanes;

  Planes                    RecordedPlanes;

  /*Names of the references defined in the configuration file*/
  std::vector<std::string>  DefinedReferenceNames;
  
  References                DefinedReferences;

  References                RecordedReferences;
  
  vtkPoints*                RecordedPoints;

  vtkMatrix4x4*              PhantomToReferenceTransformMatrix;

  double                    RegistrationError;

  char*                     PhantomCoordinateFrame;

  char*                     ReferenceCoordinateFrame;

  char*                     StylusTipCoordinateFrame;

  static std::string        ConfigurationElementName;

  vtkDoubleArray*           MarkerToReferenceTransformMatrixArray;

};

#endif