noether::UniformOrientationModifier Struct Reference

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

#include <uniform_orientation_modifier.h>

Inheritance diagram for noether::UniformOrientationModifier:

Public Member Functions
ToolPaths	modify (ToolPaths tool_paths) const override final

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

Detailed Description

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

Re-alignment of the waypoint orientation only occurs if the dot product of the waypoint x-axis and the reference direction of travel is less than zero. In the case of an orientation change, the waypoint is simply rotated about its z-axis by 180 degrees

Member Function Documentation

modify()

ToolPaths noether::UniformOrientationModifier::modify ( ToolPaths  tool_paths ) const

finaloverridevirtual

Reimplemented from noether::OneTimeToolPathModifier.