[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...

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

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	FaceMidpointSubdivisionMeshModifier
	MeshModifier that applies iterative midpoint subdivision to create smaller mesh faces. More...

class	FaceMidpointSubdivisionMeshModifierWidget

class	FaceSubdivisionByAreaMeshModifier
	MeshModifier that subdivides mesh faces into smaller faces until all faces have less than the specified maximum area. More...

class	FaceSubdivisionByAreaMeshModifierWidget

class	FaceSubdivisionMeshModifier
	MeshModifier that subdivides mesh faces until a user-defined criteria is met. 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	JoinCloseSegmentsToolPathModifier
	Joins tool path segments that are within a specified Cartesian distance of one another. More...

class	JoinCloseSegmentsToolPathModifierWidget

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	MinimumSegmentLengthToolPathModifier
	Prunes tool path segments whose lengths are less than the specified minimum length. More...

class	MinimumSegmentLengthToolPathModifierWidget

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	PlaneSlicerLegacyRasterPlanner

class	PlaneSlicerLegacyRasterPlannerWidget

class	PlaneSlicerRasterPlanner
	An implementation of RasterPlanner using a series of parallel cutting planes. More...

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

class	RansacCylinderFitMeshModifier
	MeshModifier that fits a specifiable number of cylinders to the input mesh and returns the fitted primitive models. More...

class	RansacCylinderFitMeshModifierWidget

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

class	RansacCylinderProjectionMeshModifierWidget

class	RansacPlaneProjectionMeshModifier
	MeshModifier that fits planes to the input mesh and projects the vertices onto the fitted planes. More...

class	RansacPlaneProjectionMeshModifierWidget

class	RansacPrimitiveFitMeshModifier
	Mesh modifier that fits a specifiable number of model primitives to the input mesh. More...

class	RansacPrimitiveFitMeshModifierWidget

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...

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	SplineExtrapolationToolPathModifier
	Extrapolates the tool path. More...

struct	SplineExtrapolationToolPathModifierWidget

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...

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	UniformSpacingModifier
	The UniformSpacingLinearModifier class. More...

class	UniformSpacingModifierWidget

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	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_MESH_MODIFIER_WIDGET_PLUGIN (FaceMidpointSubdivisionMeshModifierWidget, FaceMidpointSubdivision)

	EXPORT_SIMPLE_MESH_MODIFIER_WIDGET_PLUGIN (FaceSubdivisionByAreaMeshModifierWidget, FaceSubdivisionByArea)

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

vtkSmartPointer< vtkLeaderActor2D >	createLineActor (const Eigen::Isometry3d &point1, const Eigen::Isometry3d &point2, LineStyle lineStyle, bool include_arrow)

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

vtkSmartPointer< vtkPropAssembly >	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::Isometry3d	sample (const Eigen::Spline3d &spline, const double u, const Eigen::Vector3d &ref_z)

std::vector< double >	computeSpanLengths (const Eigen::Spline3d &spline)

std::vector< double >	computeKnotDistances (const Eigen::Spline3d &spline)

double	computeLength (const Eigen::Spline3d &spline)

double	computeSplineParameterAtDistance (const Eigen::Spline3d &spline, const double dist, const double tol=1.0e-4)

std::vector< double >	computeEquidistantKnots (const Eigen::Spline3d &spline, const double knot_spacing, const bool include_endpoints=false, const double tol=1.0e-4)

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::PCLPointCloud2 &cloud)

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

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

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

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

Eigen::Map< const Eigen::Vector< uint8_t, 4 > >	getRgba (const pcl::PCLPointCloud2 &cloud, const std::uint32_t pt_idx)

Eigen::Map< Eigen::Vector< uint8_t, 4 > >	getRgba (pcl::PCLPointCloud2 &cloud, const std::uint32_t pt_idx)

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

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())

pcl::PolygonMesh	createEllipsoidMesh (const float rx=1.0, const float ry=1.0, const float rz=1.5, const std::size_t resolution=20lu, const float theta_range=static_cast< float >(M_PI), const float phi_range=static_cast< float >(2.0 *M_PI), const Eigen::Isometry3d &origin=Eigen::Isometry3d::Identity())

pcl::PolygonMesh	createCylinderMesh (const float radius, const float length, const std::size_t resolution=20lu, std::size_t vertical_resolution=2u, const float theta_range=static_cast< float >(2.0 *M_PI), const bool include_caps=true, const Eigen::Isometry3d &origin=Eigen::Isometry3d::Identity())

pcl::PolygonMesh	createCylinderMesh (const float radius, const float length, const std::size_t resolution=20lu, const float theta_range=static_cast< float >(2.0 *M_PI), const bool include_caps=true, const Eigen::Isometry3d &origin=Eigen::Isometry3d::Identity())

pcl::PolygonMesh	createCylinderMeshWithUniformTriangles (const float radius, const float length, const std::size_t resolution=20lu, const float theta_range=static_cast< float >(2.0 *M_PI), const bool include_caps=true, const Eigen::Isometry3d &origin=Eigen::Isometry3d::Identity())

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

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

	EXPORT_SIMPLE_MESH_MODIFIER_PLUGIN (FaceMidpointSubdivisionMeshModifier, FaceMidpointSubdivision)

	EXPORT_SIMPLE_MESH_MODIFIER_PLUGIN (FaceSubdivisionByAreaMeshModifier, FaceSubdivisionByArea)

	EXPORT_TOOL_PATH_MODIFIER_PLUGIN (Plugin_CompoundToolPathModifier, CompoundToolPathModifier)

	EXPORT_SIMPLE_TOOL_PATH_PLANNER_PLUGIN (BoundaryEdgePlanner, Boundary)

double	simpsonComposite38 (const std::function< Eigen::ArrayXd(double)> &f, const double a, const double b, const int n=3)

std::tuple< double, double, double >	estimateSplineParameterAtDistance (const Eigen::Spline3d::KnotVectorType &knots, const std::vector< double > &knot_distances, const double dist)

double	computeSplineParameterAtDistance (const Eigen::Spline3d::KnotVectorType &knots, const std::vector< double > &knot_distances, std::function< Eigen::Array3d(const double)> s_dot, const double dist, const double tol)
	Helper function for computSplineParameterAtDistance that avoids recomputing knot distances.

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]

Function Documentation

◆ sample()

Eigen::Isometry3d noether::sample	(	const Eigen::Spline3d &	spline,
		const double	u,
		const Eigen::Vector3d &	ref_z
	)

Samples the input spline at the given spline parameter to create a 6-DoF pose, where the x-axis is aligned with the first derivative of the spline.

Parameters

spline
u	Spline parameter (on [0, 1]) at which to sample the spline
ref_z	Reference z-axis for use in computing the pose orientation

Returns

◆ computeSpanLengths()

std::vector< double > noether::computeSpanLengths ( const Eigen::Spline3d & spline )

Computes the lengths (m) of each polynomial span of the spline. This method applies Simpson's composite 3/8 rule to numerically integrate the first derivative of each polynomial segment of the spline to compute the distance

Parameters

spline

Returns: Vector of lengths (m) of each polynomial span of the spline (size n_knots - 1)

◆ computeKnotDistances()

std::vector< double > noether::computeKnotDistances ( const Eigen::Spline3d & spline )

Computes the distances (m) along the spline to each knot. This method performs a cumulative sum of the span lengths (given by computeSpanLengths) to return the total distance (m) along the spline to each knot

Parameters

spline

Returns: Vector of distances (m) to each knot in the spline (size n_knots)

◆ computeLength()

double noether::computeLength ( const Eigen::Spline3d & spline )

Computes the length (m) of the input spline. This method sums the length of all polynomial spans of the spline, given by computeSpanLengths

Parameters

spline

Returns

◆ computeSplineParameterAtDistance()

double noether::computeSplineParameterAtDistance	(	const Eigen::Spline3d &	spline,
		const double	dist,
		const double	tol = `1.0e-4`
	)

Computes the spline parameter at a specific distance along on the spline

Parameters

spline
dist	Distance (m) along spline. When this value is negative, or greater than the length of the spline the first/last polynomial segment will be extrapolated.
tol	Error tolerance (m) with which to calculate the distance

Returns

◆ computeEquidistantKnots()

std::vector< double > noether::computeEquidistantKnots	(	const Eigen::Spline3d &	spline,
		const double	knot_spacing,
		const bool	include_endpoints = `false`,
		const double	tol = `1.0e-4`
	)

Computes equidistant knot points along a spline. If the endpoints of the spline are included, the remaining equally spaced points will be centered in between them.

Parameters

spline
knot_spacing	Spacing (m) between knots on the spline
include_endpoints	Flag to indicate that the spline parameters for the endpoints of the spline (i.e., 0 and 1) should be included in the output
tol	Error tolerance (m) for calculating the distance along the spline

Returns: Vector of spline parameters that are equally spaced in distance along the spline

◆ 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

◆ simpsonComposite38()

double noether::simpsonComposite38	(	const std::function< Eigen::ArrayXd(double)> &	f,
		const double	a,
		const double	b,
		const int	n = `3`
	)

Implments Simpson's composite 3/8 rule for approximate numerical integration

See also: https://en.wikipedia.org/wiki/Simpson%27s_rule#Composite_Simpson's_3/8_rule

Parameters

f	Function to integrate (e.g., spline derivative)
a	Start location (e.g., spline start parameter)
b	End location (e.g., spline end parameter)
n	Number of subdivisions (must be a multiple of 3)

Returns

◆ estimateSplineParameterAtDistance()

std::tuple< double, double, double > noether::estimateSplineParameterAtDistance	(	const Eigen::Spline3d::KnotVectorType &	knots,
		const std::vector< double > &	knot_distances,
		const double	dist
	)

Returns the 1) distance and 2) value of the closest knot to the desired distance value and 3) a knot offset value from the closest knot that approximates the location of the desired distance. The estimated spline parameter at the input distance is the knot value plus the offset.

Returns: Tuple of [Closest knot distance, closest knot value, approximate knot offset to desired distance]

Classes

Typedefs

Enumerations

Functions

Detailed Description

Function Documentation

◆ sample()

◆ computeSpanLengths()

◆ computeKnotDistances()

◆ computeLength()

◆ computeSplineParameterAtDistance()

◆ computeEquidistantKnots()

◆ printException()

◆ simpsonComposite38()

◆ estimateSplineParameterAtDistance()