noether::RasterPlanner Class Reference

A specification of the tool path planner for covering surfaces in repeating, evenly spaced path lines. More...

Detailed Description

By default, a raster planner will produce a path with all points having a consistent orientation, lines which all travel in the same direction across the surface, and the traversal between lines will be in a consistent direction and order.

#include <raster_planner.h>

Inheritance diagram for noether::RasterPlanner:

Public Member Functions
	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
virtual ToolPaths	planImpl (const pcl::PolygonMesh &mesh) const =0
	Implementation of the tool path planning capability.

Protected Attributes
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

plan()

ToolPaths noether::RasterPlanner::plan ( const pcl::PolygonMesh &  mesh ) const

finaloverridevirtual

Implements noether::ToolPathPlanner.

planImpl()

virtual ToolPaths noether::RasterPlanner::planImpl ( const pcl::PolygonMesh &  mesh ) const

protectedpure virtual

Implemented in noether::PlaneSlicerRasterPlanner.