Detailed Description

Implementation of the legacy PlaneSlicerRasterPlanner, which includes control over point spacing, minimum segment size, and minimum hole size.

#include <plane_slicer_legacy_raster_planner.h>

Inheritance diagram for noether::PlaneSlicerLegacyRasterPlanner:

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Public Member Functions
	PlaneSlicerLegacyRasterPlanner (DirectionGenerator::ConstPtr dir_gen, OriginGenerator::ConstPtr origin_gen, const double point_spacing, const double min_segment_size, const double min_hole_size)
	Constructor.

Public Member Functions inherited from noether::PlaneSlicerRasterPlanner
	PlaneSlicerRasterPlanner (DirectionGenerator::ConstPtr dir_gen, OriginGenerator::ConstPtr origin_gen)

void	generateRastersBidirectionally (const bool bidirectional)

Public Member Functions inherited from noether::RasterPlanner
	RasterPlanner (DirectionGenerator::ConstPtr dir_gen, OriginGenerator::ConstPtr origin_gen)

ToolPaths	plan (const pcl::PolygonMesh &mesh) const override final

void	setLineSpacing (const double line_spacing)

Protected Member Functions
ToolPaths	planImpl (const pcl::PolygonMesh &mesh) const
	Implementation of the tool path planning capability.

Protected Member Functions inherited from noether::PlaneSlicerRasterPlanner
ToolPaths	planImpl (const pcl::PolygonMesh &mesh) const
	Implementation of the tool path planning capability.

Protected Attributes
double	point_spacing_

double	min_segment_size_

double	min_hole_size_

Protected Attributes inherited from noether::PlaneSlicerRasterPlanner
bool	bidirectional_ = true
	Flag indicating whether rasters should be generated in the direction of both the cut normal and its negation.

Protected Attributes inherited from noether::RasterPlanner
DirectionGenerator::ConstPtr	dir_gen_

OriginGenerator::ConstPtr	origin_gen_

double	line_spacing_
	Distance between raster lines.

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

using	ConstPtr = std::unique_ptr< const ToolPathPlanner >

Constructor & Destructor Documentation

noether::PlaneSlicerLegacyRasterPlanner::PlaneSlicerLegacyRasterPlanner	(	DirectionGenerator::ConstPtr	dir_gen,
		OriginGenerator::ConstPtr	origin_gen,
		const double	point_spacing,
		const double	min_segment_size,
		const double	min_hole_size
	)

Parameters

dir_gen	Direction generator
origin_gen	Origin generator
point_spacing	Distance between waypoints on the same raster line (m)
min_segment_size	Minimum length of valid segment (m)
min_hole_size	Minimum size of hole in a mesh for which the planner should split a raster line that crosses over the hole into multiple segments

ToolPaths noether::PlaneSlicerLegacyRasterPlanner::planImpl ( const pcl::PolygonMesh & mesh ) const

protectedvirtual