noether::FixedOrientationModifier Class Reference

Aligns the orientation of each waypoint with the existing waypoint normal (z-axis) and the specified reference x-axis direction. More...

#include <fixed_orientation_modifier.h>

Inheritance diagram for noether::FixedOrientationModifier:

Public Member Functions
	FixedOrientationModifier (const Eigen::Vector3d &reference_x_direction)
ToolPaths	modify (ToolPaths tool_paths) const override final
Public Member Functions inherited from noether::OneTimeToolPathModifier
virtual ToolPaths	modify (ToolPaths toolpaths) const

Protected Attributes
const Eigen::Vector3d	ref_x_dir_
	Reference x-axis direction.

Additional Inherited Members
Public Types inherited from noether::ToolPathModifier
using	Ptr = std::unique_ptr< ToolPathModifier >
using	ConstPtr = std::unique_ptr< const ToolPathModifier >

Detailed Description

Aligns the orientation of each waypoint with the existing waypoint normal (z-axis) and the specified reference x-axis direction.

The new waypoint y-axis is computed as the cross-product of the existing waypoint normal (z-axis) and the reference x-axis. The new waypoint x-axis is computed as the cross-product of the new y-axis with the existing waypoint normal (z-axis). Thus, each new waypoint's x-axis will probably not exactly match the input reference direction, but it will be as close as possible

Member Function Documentation

modify()

ToolPaths noether::FixedOrientationModifier::modify ( ToolPaths  tool_paths ) const

finaloverridevirtual

Reimplemented from noether::ToolPathModifier.