Tuesday 5/12/15

Installed correct boost version on Windows machine for tracker code. It is based on Visual Studio Version, from table at:
https://en.wikipedia.org/wiki/Microsoft_Visual_Studio#History
boost at:
http://sourceforge.net/projects/boost/files/boost-binaries/1.58.0/

linker, additional library directories <path/to/boost/directory>/lib<architecture>
C/C++ ->additional include directories </path/to/boost> which should be like boost_1_58_0 and contains folder 'boost'
C/C++ ->use precompiled headers to no

Tracker server working now.
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Wrote TrackerReceiver class,
has multithreaded tracking data collection. Mutices and Threads.
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Modified Tracker VS project to send data for two trackers simultaneously.
Index into m_dtHandleInformation[nHandle], nHandle is 10 and 11 for now, unintuitive.
Hard coded in the 14 float udp packet size, could be more elegant.
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Implemented PositionCapture class which captures the position of the goal from a probe.
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Coded sliding mode controller in Controller class. Only tracks to a point, not doing trajectory following yet. Next step is controller in tissue, then trajectory following.
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Deconstruction of everything cleaned up, robot returns itself to start configuration.
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Tomorrow with Phil and Art, needle in phantom, discussion on what is needed for concentric tubes and motion planning experiments.
Need to write data collection code, maybe have controller write out data every cycle for now?