noether::DirectionGenerator Struct Reference

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

#include <raster_planner.h>

Inheritance diagram for noether::DirectionGenerator:

Public Types
using	Ptr = std::unique_ptr< DirectionGenerator >
using	ConstPtr = std::unique_ptr< const DirectionGenerator >

Public Member Functions
virtual Eigen::Vector3d	generate (const pcl::PolygonMesh &mesh) const =0

Detailed Description

Interface for generating the direction of raster paths.

This interface only defines the raster path direction. This direction represents the line along which waypoints in a raster path will lie. It is overconstrained to also define the raster step direction, which is typically normal to the raster path direction. As such, we leave it up to the individual raster planners to determine how propagate sequential rasters normal to the path direction.