Fixed bug to ensure line specified by cut direction is always long en…

…ough to cross mesh
ros-industrial · Dec 11, 2020 · 7a98c0e · 7a98c0e
1 parent d2b5279
commit 7a98c0e
Showing 1 changed file with 1 addition and 1 deletion.
diff --git a/tool_path_planner/src/surface_walk_raster_generator.cpp b/tool_path_planner/src/surface_walk_raster_generator.cpp
@@ -1242,7 +1242,7 @@ vtkSmartPointer<vtkPolyData> SurfaceWalkRasterGenerator::createStartCurve()
     Eigen::Vector3d cut_dir(config_.cut_direction);
     if (!cut_dir.isApprox(Eigen::Vector3d::Zero()))
     {
-      max = cut_dir;
+      max = cut_dir.normalized() * max.norm();
     }
     else
     {