[GUI Plugins Example Simple] More...

Classes
struct	AABBCenterOriginGenerator
	Returns the center of the axis-aligned bounding box (AABB) as the origin. More...

struct	AABBCenterOriginGeneratorWidget

class	AngleDoubleSpinBox
	Double spin box widget class that supports angle units. More...

class	BaseWidget
	Base class for a widget that can configure tool path planning components. More...

class	BiasedToolDragOrientationToolPathModifier
	Transforms the waypoints to correspond with the edge of the ginding tool so that the edge of the tool is in contact with the media. More...

class	BiasedToolDragOrientationToolPathModifierWidget

class	BoundaryEdgePlanner
	Edge tool path planner that creates paths around the boundary edges of a mesh (exterior and interior) as identified by half-edge triangle mesh representation of the mesh. More...

struct	BoundaryEdgePlannerFactory

class	BoundaryEdgePlannerWidget

class	BSplineReconstruction
	Smoothes a mesh by fitting a bspline surface to it. More...

struct	CentroidOriginGenerator
	Returns the centroid of the mesh vertices as the origin. More...

struct	CentroidOriginGeneratorWidget

class	CircularLeadInModifier
	Modifier that adjusts the parameters of the tool approach trajectory to the media. More...

class	CircularLeadInToolPathModifierWidget

class	CircularLeadOutModifier
	Modifier that adds exit waypoints in a circular arc (with fixed orientation) to the end of a trajectory. More...

class	CircularLeadOutToolPathModifierWidget

class	CleanData
	Merges duplicate points, removes unused points, and/or removes degenerate cells. More...

class	CompoundMeshModifier
	MeshModifier that cascades multiple MeshModifier instances in series. More...

class	CompoundModifier
	Modifier that chains together other modifiers. More...

struct	ConcatenateModifier
	Concatenates all input tool paths into a single tool path. More...

struct	ConcatenateModifierWidget

class	ConfigurableTPPPipelineWidget

class	CrossHatchPlaneSlicerRasterPlannerWidget

class	CylinderProjectionModifier
	Mesh modifier that fits a specifiable number of cylinders to the input mesh and projects the inlier vertices onto the fitted cylinder models. More...

class	CylinderProjectionModifierWidget

struct	DirectionGenerator
	Interface for generating the direction of raster paths. More...

class	DirectionGeneratorWidgetPlugin
	WidgetPlugin implementation specifically for BaseWidget instances that configure direction generators. More...

struct	DirectionOfTravelOrientationModifier
	Aligns the x-axis of all waypoints with the direction of travel between adjacent waypoints. More...

struct	DirectionOfTravelOrientationModifierWidget

class	DistanceDoubleSpinBox
	Double spin box widget class that supports distance units. More...

class	EdgePlanner
	A specification of the tool path planner interface for generating paths around the edges of surfaces. More...

class	EuclideanClusteringMeshModifier
	MeshModifier that separates the mesh into clusters. More...

class	EuclideanClusteringMeshModifierWidget

struct	ExtrudedPolygonSubMeshExtractor
	Extracts the submesh with the vertices captured inside an extruded polygon defined by the input boundary points. More...

struct	ExtrudedPolygonSubsetExtractor
	Extracts the submesh with the vertices captured inside an extruded polygon defined by the input boundary points. More...

class	Factory
	Factory for creating tool path planning components from plugins. More...

class	FillHoles
	Fills holes in the mesh using `vtkFillHoles` More...

class	FillHolesModifierWidget

class	FixedDirectionGenerator
	Generates the raster direction based on a fixed input. More...

class	FixedDirectionGeneratorWidget

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

class	FixedOrientationModifierWidget

class	FixedOriginGenerator
	Returns a fixed point as the origin. More...

class	FixedOriginGeneratorWidget

class	LinearApproachModifier
	Adds a series of waypoints in a linear pattern off the first waypoint in a tool path. More...

class	LinearApproachToolPathModifierWidget

class	LinearDepartureModifier
	Adds a series of waypoints in a linear pattern off the last waypoint in a tool path. More...

class	LinearDepartureToolPathModifierWidget

struct	MeshModifier
	A common interface for mesh modifications. More...

class	MeshModifierWidgetPlugin
	WidgetPlugin implementation specifically for BaseWidget instances that configure mesh modifiers. More...

class	MovingAverageOrientationSmoothingModifier
	Applies a moving average filter to waypoints in each tool path segment to smooth their orientations. More...

class	MovingAverageOrientationSmoothingModifierWidget

class	MultiToolPathPlanner
	Runs multiple tool path planners serially and concatenates their outputs together. More...

class	NormalEstimationPCLMeshModifier
	Estimates vertex normals of an input mesh using PCL. More...

class	NormalEstimationPCLMeshModifierWidget

class	NormalsFromMeshFacesMeshModifier
	MeshModifier that assigns vertex normals using mesh faces. More...

class	NormalsFromMeshFacesMeshModifierWidget

class	OffsetModifier
	Offsets the tool path by a fixed pose. More...

class	OffsetModifierWidget

class	OffsetOriginGenerator
	Returns the origin as the origin of another specified origin generator plus a fixed offset. More...

class	OneTimeCompoundModifier
	Modifier that chains together one-time style modifiers. More...

struct	OneTimeToolPathModifier
	An extension of the ToolPathModifier interface that requires a modifier to not cause additional changes if run again. More...

struct	OriginGenerator
	Interface for setting the start point from which to generate toolpaths. More...

class	OriginGeneratorWidgetPlugin
	WidgetPlugin implementation specifically for BaseWidget instances that configure origin generators. More...

class	PCARotatedDirectionGenerator
	Rotates a direction vector provided by another direction generator about the smallest principal axis of the input mesh. More...

class	PlaneProjectionMeshModifier
	MeshModifier that fits planes to the input mesh and projects the vertices onto the face. More...

class	PlaneProjectionMeshModifierWidget

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

struct	PlaneSlicerRasterPlannerFactory

class	PlaneSlicerRasterPlannerWidget

class	Plugin
	Base class for a plugin that can generate a tool path planning component (e.g., mesh modifier, tool path planner, tool path modifier). More...

class	PluginLoaderWidget
	Widget for loading widget plugins. More...

class	PrincipalAxisDirectionGenerator
	Generates the raster direction along the largest principal axis of the input mesh. More...

class	PrincipalAxisDirectionGeneratorWidget

struct	RasterOrganizationModifier
	Organizes a tool path into a raster-style pattern. More...

struct	RasterOrganizationModifierWidget

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

struct	RasterPlannerFactory
	Interface for creating implementations of raster tool path planners. More...

class	RasterPlannerWidget

struct	SimplePlugin
	Template for a simple implementation of Plugin. More...

struct	SimpleWidgetPlugin
	Template for a simple implementation of WidgetPlugin. More...

struct	SnakeOrganizationModifier
	Organizes a tool path into a snake-style pattern. More...

struct	SnakeOrganizationModifierWidget

class	StandardEdgePathsOrganizationModifier
	Organizes a set of tool paths into a standard configuration for edge paths. More...

class	StandardEdgePathsOrganizationModifierWidget

struct	SubMeshExtractor
	Base class for extracting a submesh from a mesh given a set of boundary points. More...

struct	SubsetExtractor
	Base class for extracting a point cloud subset from an input given a set of boundary points. More...

class	ToolDragOrientationToolPathModifier
	Transforms the waypoints to correspond with the center of the ginding tool so that the edge of the tool is in contact with the media. More...

class	ToolDragOrientationToolPathModifierWidget

struct	ToolPathModifier
	A common interface for functions that alter a generated toolpath. More...

class	ToolPathModifierWidgetPlugin
	WidgetPlugin implementation specifically for BaseWidget instances that configure tool path modifiers. More...

struct	ToolPathPlanner
	Interface for a tool path planner that operates on a mesh. More...

struct	ToolPathPlannerFactory
	Interface for creating implementations of the ToolPathPlanner interface. More...

class	ToolPathPlannerPipeline

class	ToolPathPlannerWidgetPlugin
	WidgetPlugin implementation specifically for BaseWidget instances that configure tool path planners. More...

class	TPPPipelineWidget
	Widget for creating a tool path planning pipeline. More...

class	TPPWidget
	Basic tool path planning widget. More...

struct	UniformOrientationModifier
	Aligns the x-axis of all waypoints with the direction of travel of the first two waypoints. More...

struct	UniformOrientationModifierWidget

class	UniformSpacingLinearModifier
	The UniformSpacingLinearModifier class. More...

class	UniformSpacingLinearModifierWidget

class	UniformSpacingSplineModifier
	The UniformSpacingSplineModifier class. More...

class	UniformSpacingSplineModifierWidget

class	WidgetFactory
	Extends the Factory class to be able to load widget plugins for the GUI. More...

class	WidgetPlugin
	Base class for a plugin that can generate a `BaseWidget<T>` for configuring a tool path planning component (e.g., mesh modifier, tool path planner, tool path modifier). More...

class	WindowedSincSmoothing
	Uses vtkWindowedSincPolyDataFilter to smooth the mesh. More...

Typedefs
using	ToolPathWaypoint = Eigen::Isometry3d
	A point on a surface that makes up part of a path.

using	ToolPathSegment = std::vector< Eigen::Isometry3d, Eigen::aligned_allocator< Eigen::Isometry3d > >
	A set of contiguous ToolPathWaypoint that lie on the same line created by a "slice" through a surface.

using	ToolPath = std::vector< ToolPathSegment >
	A set of ToolPathSegment that lie on the same line created by a tool path "slice", but are not connected (e.g. due to a hole in the mesh)

using	ToolPaths = std::vector< ToolPath >
	A set of ToolPath (i.e. rasters) generated by various slices through a surface.

using	ToolPathPlannerPlugin = Plugin< ToolPathPlanner >
	Plugin interface for creating a ToolPathPlanner.

using	DirectionGeneratorPlugin = Plugin< DirectionGenerator >
	Plugin interface for creating a DirectionGenerator.

using	OriginGeneratorPlugin = Plugin< OriginGenerator >
	Plugin interface for creating an OriginGenerator.

using	ToolPathModifierPlugin = Plugin< ToolPathModifier >
	Plugin interface for creating a ToolPathModifier.

using	MeshModifierPlugin = Plugin< MeshModifier >
	Plugin interface for creating a MeshModifier.

using	EdgePlannerFactory = ToolPathPlannerFactory
	Interface for creating instances of edge tool path planners.

using	MeshTraits = pcl::geometry::DefaultMeshTraits< std::uint32_t >

using	TriangleMesh = pcl::geometry::TriangleMesh< MeshTraits >

Enumerations
enum class	LineStyle { INTRA_SEGMENT = 0 , INTER_SEGMENT , INTER_PATH }

Functions
QStringList	toQStringList (const std::vector< std::string > &list)

void	overwriteWidget (QLayout layout, QWidget &from, QWidget *to)
	Overwrites one widget within a layout with another widget.

	EXPORT_SIMPLE_TOOL_PATH_MODIFIER_WIDGET_PLUGIN (StandardEdgePathsOrganizationModifierWidget, StandardEdgePathsOrganization) EXPORT_SIMPLE_TOOL_PATH_MODIFIER_WIDGET_PLUGIN(MovingAverageOrientationSmoothingModifierWidget

vtkSmartPointer< vtkTransform >	toVTK (const Eigen::Isometry3d &mat)

vtkSmartPointer< vtkAssembly >	createToolPathActors (const std::vector< ToolPaths > &tool_paths, vtkAlgorithmOutput *waypoint_shape_output_port)

vtkSmartPointer< vtkActor >	createLineActor (const Eigen::Isometry3d &point1, const Eigen::Isometry3d &point2, LineStyle lineStyle)

vtkSmartPointer< vtkAssembly >	createToolPathPolylineActor (const std::vector< ToolPaths > &tool_paths, vtkAlgorithmOutput *waypoint_shape_output_port)

vtkSmartPointer< vtkAssembly >	createMeshActors (const std::vector< pcl::PolygonMesh > &meshes)

pcl::PolygonMesh	extractSubMeshFromInlierVertices (const pcl::PolygonMesh &input_mesh, const std::vector< int > &inlier_vertex_indices)
	Extracts the sub-mesh from inlier vertices.

Eigen::Vector3d	estimateToolPathDirection (const ToolPath &tool_path)
	Estimates the direction of travel of a tool path by averaging the vectors between adjacent waypoints.

Eigen::Vector3d	estimateRasterDirection (const ToolPaths &tool_paths, const Eigen::Vector3d &reference_tool_path_dir)
	Estimates the raster direction of a set of tool paths by returning the component of the vector from the first point in the first segment of the first tool path) to the first waypoint in the first segment of the last tool path that is perpendicular to the nominal tool path direction.

std::vector< pcl::PCLPointField >::const_iterator	findField (const std::vector< pcl::PCLPointField > &fields, const std::string &name)

std::vector< pcl::PCLPointField >::const_iterator	findFieldOrThrow (const std::vector< pcl::PCLPointField > &fields, const std::string &name)

bool	hasNormals (const pcl::PolygonMesh &mesh)

Eigen::Vector3f	getPoint (const pcl::PCLPointCloud2 &cloud, const std::uint32_t pt_idx)

Eigen::Vector3f	getFaceNormal (const pcl::PolygonMesh &mesh, const pcl::Vertices &polygon)

Eigen::Vector3f	getNormal (const pcl::PCLPointCloud2 &cloud, const std::uint32_t pt_idx)

TriangleMesh	createTriangleMesh (const pcl::PolygonMesh &input)
	Creates a triangle mesh representation of the input polygon mesh.

std::tuple< double, std::vector< double > >	computeLength (const ToolPathSegment &segment)
	Computes the length of a tool path segment.

void	printException (const std::exception &e, std::ostream &ss, int level=0)
	Unrolls an exception and captures content from all nested exceptions.

pcl::PolygonMesh	createPlaneMesh (const float lx=1.0, const float ly=1.0, const Eigen::Isometry3d &origin=Eigen::Isometry3d::Identity())
	Creates a mesh of an x-y plane (z-axis is normal) with a specified length and width.

pcl::PolygonMesh	createEllipsoidMesh (const float rx=1.0, const float ry=1.0, const float rz=1.5, const int resolution=20, const float theta_range=M_PI, const float phi_range=2.0 *M_PI, const Eigen::Isometry3d &origin=Eigen::Isometry3d::Identity())
	Creates a mesh of an ellipsoid.

void	projectInPlace (pcl::PCLPointCloud2 &cloud, const Eigen::VectorXf &model_coefficients)
	Projects points onto the cylinder model in place.

Eigen::Vector3f	computeFaceNormal (const pcl::PolygonMesh &mesh, const TriangleMesh &tri_mesh, const TriangleMesh::FaceIndex &face_idx)

void	projectInPlace (pcl::PCLPointCloud2 &cloud, const Eigen::Vector4f &plane_coeffs)

	EXPORT_TOOL_PATH_MODIFIER_PLUGIN (Plugin_CompoundToolPathModifier, CompoundToolPathModifier)

	EXPORT_SIMPLE_TOOL_PATH_PLANNER_PLUGIN (BoundaryEdgePlanner, Boundary)

vtkSmartPointer< vtkPoints >	convert (const ToolPathSegment &segment)

vtkSmartPointer< vtkQuaternionInterpolator >	createQuaternionInterpolator (const ToolPathSegment &segment, const std::vector< double > &dists)

template<typename T >
std::string	getClassName (const T &obj)
	Extracts the demangled class name behind the namespace for printing in unit test.

template<typename T >
std::string	print (const testing::TestParamInfo< std::shared_ptr< T > > info)
	Prints name of class for unit test output.

Detailed Description

[Plugins Example Simple]

[GUI Plugins Example Complex]

[Plugins Example Complex]

Typedef Documentation

◆ EdgePlannerFactory

using noether::EdgePlannerFactory = typedef ToolPathPlannerFactory

This class contains the generic parameters for configuring edge tool path planners

Function Documentation

◆ printException()

void noether::printException	(	const std::exception &	e,
		std::ostream &	ss,
		int	level = `0`
	)

Adapted from https://en.cppreference.com/w/cpp/error/throw_with_nested

◆ createPlaneMesh()

pcl::PolygonMesh noether::createPlaneMesh	(	const float	lx = `1.0`,
		const float	ly = `1.0`,
		const Eigen::Isometry3d &	origin = `Eigen::Isometry3d::Identity()`
	)

The plane is comprised of 4 vertices and two triangles per the diagram below:

0 — 3
| A / |
| / B |
1 — 2

Parameters

lx	Length (m) along the x direction
ly	Length (m) along the y direction
origin	Transform to the desired origin of the primitive

◆ createEllipsoidMesh()

pcl::PolygonMesh noether::createEllipsoidMesh	(	const float	rx = `1.0`,
		const float	ry = `1.0`,
		const float	rz = `1.5`,
		const int	resolution = `20`,
		const float	theta_range = `M_PI`,
		const float	phi_range = `2.0 * M_PI`,
		const Eigen::Isometry3d &	origin = `Eigen::Isometry3d::Identity()`
	)

The implementation is adapted from Open3D

Parameters

rx	Radius (m) along the x direction
ry	Radius (m) along the y direction
rz	Radius (m) along the z direction
resolution	Number of vertices in each "ring" of the ellipsoid
theta_range	Angle range (radians) of the ellipsoid spanning between the two poles on (0, pi]. If the value is less than pi, an ellipsoid shell is created.
phi_range	Angle range (radians) around the z-axis that passes through both poles, on (0, 2 * pi]. If the value is less than 2 * pi, an ellipsoid shell is crated.
origin	Transform to the desired origin of the primitive

◆ projectInPlace()

void noether::projectInPlace	(	pcl::PCLPointCloud2 &	cloud,
		const Eigen::VectorXf &	model_coefficients
	)

pcl::SampleConsensusModelCylinder has a bug in projectPoints that was fixed in 1.12.1. To support back to PCL 1.10 (Ubuntu 20.04), we have implemented the projection function ourselves to include the bug fix

Classes

Typedefs

Enumerations

Functions