noether::PlaneSlicerRasterPlanner Class Reference

An implementation of the Raster Planner using a series of parallel cutting planes. More...

Detailed Description

This implementation works best on approximately planar parts. The direction generator defines the direction of the raster cut. The cut normal (i.e., the raster step direction) is defined by the cross product of the cut direction and the smallest principal axis of the mesh.

#include <plane_slicer_raster_planner.h>

Inheritance diagram for noether::PlaneSlicerRasterPlanner:

Public Member Functions
	PlaneSlicerRasterPlanner (DirectionGenerator::ConstPtr dir_gen, OriginGenerator::ConstPtr origin_gen)
void	setSearchRadius (const double search_radius)
void	setMinSegmentSize (const double min_segment_size)
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	setPointSpacing (const double point_spacing)
void	setLineSpacing (const double line_spacing)
void	setMinHoleSize (const double min_hole_size)

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

Protected Attributes
bool	bidirectional_ = true
	Flag indicating whether rasters should be generated in the direction of both the cut normal and its negation.
double	min_segment_size_
	Minimum length of valid segment (m)
double	search_radius_
	Search radius for calculating normals (m)
Protected Attributes inherited from noether::RasterPlanner
DirectionGenerator::ConstPtr	dir_gen_
OriginGenerator::ConstPtr	origin_gen_
double	point_spacing_
	Distance between waypoints on the same raster line (m)
double	line_spacing_
	Distance between raster lines.
double	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.

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

Member Function Documentation

planImpl()

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

protectedvirtual

Parameters

mesh

Returns

Implements noether::RasterPlanner.