noether::SplineExtrapolationToolPathModifier Class Reference

Extrapolates the tool path. More...

Detailed Description

This modifier creates additional extrapolation waypoints at the front and/or back of a ToolPathSegment, following the approximate curvature of the tool path (opposed to a linear offset). It works by fitting a spline to the waypoints of each ToolPathSegment and extrapolating beyond the end of the spline using the last polynomial segment. The extrapolated waypoint(s) can also include an optional offset along the waypoint normal (i.e., z-axis).

#include <spline_extrapolation_modifier.h>

Inheritance diagram for noether::SplineExtrapolationToolPathModifier:

Public Member Functions
	SplineExtrapolationToolPathModifier (const double spline_degree, const double extrapolation_distance_front, const double normal_offset_distance_front, const double extrapolation_distance_back, const double normal_offset_distance_back)
	Constructor.
ToolPaths	modify (ToolPaths tool_path) const override

Protected Member Functions
	DECLARE_YAML_FRIEND_CLASSES (SplineExtrapolationToolPathModifier)

Protected Attributes
double	spline_degree_
double	extrapolation_distance_front_
double	normal_offset_distance_front_
double	extrapolation_distance_back_
double	normal_offset_distance_back_

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

Constructor & Destructor Documentation

SplineExtrapolationToolPathModifier()

noether::SplineExtrapolationToolPathModifier::SplineExtrapolationToolPathModifier	(	const double	spline_degree,
		const double	extrapolation_distance_front,
		const double	normal_offset_distance_front,
		const double	extrapolation_distance_back,
		const double	normal_offset_distance_back
	)

Parameters

spline_degree	Degree of the spline to fit to the tool path (e.g., 2 (parabolic), 3 (cubic))
extrapolation_distance_front	Distance (m) in front of the spline to extrapolate the tool path
normal_offset_distance_front	Offset distance (m) to apply along the front extrapolated waypoint(s) normal (i.e., z-axis)
extrapolation_distance_back	Distance (m) beyond the end of the spline to extrapolate the tool path
normal_offset_distance_back	Offset distance (m) to apply along the back extrapolated waypoint(s) normal (i.e., z-axis)

Member Function Documentation

modify()

ToolPaths noether::SplineExtrapolationToolPathModifier::modify ( ToolPaths  tool_path ) const

overridevirtual

Reimplemented from noether::ToolPathModifier.