ARTDataTrackerChomp.h

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/* ========================================================================
 * Copyright (c) 2006,
 * Institute for Computer Graphics and Vision
 * Graz University of Technology
 * All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are
 * met:
 *
 * Redistributions of source code must retain the above copyright notice,
 * this list of conditions and the following disclaimer.
 *
 * Redistributions in binary form must reproduce the above copyright
 * notice, this list of conditions and the following disclaimer in the
 * documentation and/or other materials provided with the distribution.
 *
 * Neither the name of the Graz University of Technology nor the names of
 * its contributors may be used to endorse or promote products derived from
 * this software without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS
 * IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED
 * TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A
 * PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER
 * OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
 * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
 * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
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 * LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING
 * NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
 * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 * ========================================================================
 * PROJECT: OpenTracker
 * ======================================================================== */
/* ======================================================================= */

#ifndef _ARTDATATRACKERCHOMP_H
#define _ARTDATATRACKERCHOMP_H

#include <string>
#include <map>
#include "../OpenTracker.h"



#ifndef OT_NO_ARTDATATRACKER_SUPPORT


namespace ot {

    class ARTDataTrackerChomp
    {   
        
    public:
        
        typedef struct BodyRecord               // Structur for the 6d Bodies
        {
            unsigned long id;                   // Body ID taken from the Datagramm
            float quality;                              // Quality taken from the Datagramm (not used by DTrack in this Version of DTrack)
            float location[3];                  // Array for the loaction of the Body (s0 s1 s2)
            float eulerAngles[3];               // Array for the Eulerangles
            float rotationMatrix[9];            // Array for the Rotation Matrix
            float orientation[4];               // Array for the Quaternion (calculated by ARTDataTrackerModule) pushed in the Nodetree
            bool  valid;                        // Flag is true if body is tracked by DTrack
        } BodyRecord;
        
        typedef struct MarkerRecord             // Structur for the 3d Markers
        {
            unsigned long id;                   // Marker ID taken from the Datagramm
            float quality;                      // Quality taken from the Datagramm (not used by DTrack in this Version of DTrack)
            float location[3];                  // Array for the loaction of the Body (s0 s1 s2)                
            bool  valid;                        // Flag is true if body is tracked by DTrack

        } MarkerRecord;

        typedef struct FlystickRecord
        {
            unsigned long id;
            float quality;
            unsigned long buttons;
            float location[3];
            float eulerAngles[3];                // Array for the Eulerangles
            float rotationMatrix[9];             // Array for the Rotation Matrix
            float orientation[4];                // Array for the Quaternion (calculated by ARTDataTrackerModule) pushed in the Nodetree
            bool  valid;                         // Flag is true if body is tracked by DTrack
        } FlystickRecord;

        typedef struct MeasuretargetRecord
        {           
            unsigned long id;
            float quality;
            unsigned long buttons;
            float location[3];
            float rotationMatrix[9];             // Array for the Rotation Matrix
            float orientation[4];               // Array for the Quaternion (calculated by ARTDataTrackerModule) pushed in the Nodetree
            bool  valid;                        // Flag is true if body is tracked by DTrack
        } MeasuretargetRecord;

    protected:
        int frameNumber;
        int numberTrackedBodies;
        int numberTrackedMarkers;
        int numberTrackedFlysticks;
        int numberTrackedMeasuretargets;
        int numberTrackedCalBodies;

        std::map<int, BodyRecord > tempBodyRecord;
        std::map<int, MarkerRecord > tempMarkerRecord;
        std::map<int, MeasuretargetRecord > tempMeasuretargetRecord;
        std::map<int, FlystickRecord > tempFlystickRecord;

        /* Methods of ARTDataTrackerChomp
         *
         */


    public:
        ARTDataTrackerChomp();
        virtual ~ARTDataTrackerChomp();
        virtual void displayRecords();                                 // Display the contens of the RecordArray
        virtual void chomp(std::string Datagramm);                     // Main part that chomp the string
        virtual int getFrameNumber();                                  // return the framenumber
        virtual int getTrackedBodyNumber();                            // return the Number of tracked Bodies
        virtual int getCalibratedTrackedBodyNumber();                  // return the Number of calibrated & tracked Bodies      
        virtual std::map<int, BodyRecord > & getBodyRecord();          // return the BodyRecord
        virtual int getTrackedMarkerNumber();                          // return the Number of tracked Markers  
        virtual std::map<int, MarkerRecord > & getMarkerRecord();      // return the MarkerRecord
        virtual int getTrackedFlystickNumber();                              // return the Number of tracked flysticks
        virtual std::map<int, FlystickRecord > & getFlystickRecord();        // return the FlystickRecord
        virtual int getTrackedMeasuretargetNumber();                          // return the Number of tracked measurement targets
        virtual std::map<int, MeasuretargetRecord > & getMeasuretargetRecord();  // return the MeasuretargetRecord
    };

} // namespace ot


#endif // OT_NO_ARTDATATRACKER_SUPPORT


#endif

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