From 7a98c0ed3e9e9cc7cf71476c506ea9670a98a3c3 Mon Sep 17 00:00:00 2001
From: Michael Ripperger <michael.ripperger@swri.org>
Date: Thu, 10 Dec 2020 20:38:48 -0600
Subject: [PATCH] Fixed bug to ensure line specified by cut direction is always
 long enough to cross mesh

---
 tool_path_planner/src/surface_walk_raster_generator.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/tool_path_planner/src/surface_walk_raster_generator.cpp b/tool_path_planner/src/surface_walk_raster_generator.cpp
index b1001451..d0810df8 100644
--- 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
     {