Plane slice planner (#168)

* Raster Planner: Port of Plane Slicer

* Update plane slice planner port

* Handle empty toolpaths

* Ran clang-format

* Replace tool_path_planner version of plane slice raster planner with noether_tpp version

* Added CI directory symlink

* Export dependencies of noether_tpp

* Add Eigen3::Eigen target for Xenial compatibility

* Remove unneeded clone function

* Removed unused headers

Co-authored-by: David Merz, Jr <[email protected]>
Co-authored-by: Tyler Marr <[email protected]>

ci

@@ -0,0 +1 @@
+.github/workflows/

noether_tpp/CMakeLists.txt

@@ -9,6 +9,14 @@ project(${pkg_extracted_name} VERSION ${pkg_extracted_version} LANGUAGES CXX)
 find_package(Eigen3 REQUIRED)
 find_package(PCL REQUIRED COMPONENTS common io)
 
+find_package(VTK REQUIRED NO_MODULE)
+if(VTK_FOUND AND ("${VTK_VERSION}" VERSION_LESS 7.1))
+  message(FATAL_ERROR "The minimum required version of VTK is 7.1, but found ${VTK_VERSION}")
+  set(VTK_FOUND FALSE)
+else()
+  include(${VTK_USE_FILE})
+endif()
+
 # Create targets if necessary
 if(NOT TARGET Eigen3::Eigen)
   find_package(Threads REQUIRED)
@@ -29,14 +37,15 @@ add_library(${PROJECT_NAME} SHARED
   # Tool Path Planners
   src/tool_path_planners/edge_planner.cpp
   src/tool_path_planners/raster_planner.cpp
+  src/tool_path_planners/plane_slicer_raster_planner.cpp
   src/tool_path_planners/direction_generators.cpp
   src/tool_path_planners/origin_generators.cpp
 )
 target_include_directories(${PROJECT_NAME} PUBLIC
   "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
   "$<INSTALL_INTERFACE:include>")
 target_include_directories(${PROJECT_NAME} SYSTEM PUBLIC ${PCL_INCLUDE_DIRS})
-target_link_libraries(${PROJECT_NAME} PUBLIC Eigen3::Eigen ${PCL_LIBRARIES})
+target_link_libraries(${PROJECT_NAME} PUBLIC Eigen3::Eigen ${PCL_LIBRARIES} ${VTK_LIBRARIES})
 target_cxx_version(${PROJECT_NAME} PUBLIC VERSION 14)
 target_clang_tidy(${PROJECT_NAME}
   ENABLE ${NOETHER_ENABLE_CLANG_TIDY}
@@ -55,4 +64,4 @@ if(${NOETHER_ENABLE_TESTING})
 endif()
 
 # Package configuration
-configure_package(NAMESPACE noether TARGETS ${PROJECT_NAME})
+configure_package(NAMESPACE noether DEPENDENCIES Eigen3 "PCL REQUIRED COMPONENTS common io" VTK TARGETS ${PROJECT_NAME})

noether_tpp/include/noether_tpp/tool_path_planners/raster/plane_slicer_raster_planner.h

@@ -0,0 +1,52 @@
+/**
+ * @file plane_slicer_raster_planner.h
+ * @copyright Copyright (c) 2021, Southwest Research Institute
+ *
+ * @par License
+ * Software License Agreement (Apache License)
+ * @par
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ * http://www.apache.org/licenses/LICENSE-2.0
+ * @par
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+#pragma once
+
+#include <noether_tpp/tool_path_planners/raster/raster_planner.h>
+
+namespace noether
+{
+/**
+ * @brief An implementation of the Raster Planner using a series of parallel cutting planes.
+ * This implementation works best on approximately planar parts.
+ */
+class PlaneSlicerRasterPlanner : public RasterPlanner
+{
+public:
+  PlaneSlicerRasterPlanner(DirectionGenerator::ConstPtr dir_gen, OriginGenerator::ConstPtr origin_gen);
+
+  void setSearchRadius(const double search_radius);
+  void setMinSegmentSize(const double min_segment_size);
+
+protected:
+  /**
+   * @brief Implementation of the tool path planning capability
+   * @param mesh
+   * @return
+   */
+  ToolPaths planImpl(const pcl::PolygonMesh& mesh) const;
+
+private:
+  /** @brief Minimum length of valid segment (m) */
+  double min_segment_size_;
+  /** @brief Search radius for calculating normals (m) */
+  double search_radius_;
+};
+
+}  // namespace noether

noether_tpp/include/noether_tpp/tool_path_planners/raster/raster_planner.h

@@ -78,7 +78,6 @@ class RasterPlanner : public ToolPathPlanner
   DirectionGenerator::ConstPtr dir_gen_;
   OriginGenerator::ConstPtr origin_gen_;
 
-private:
   /** @brief Distance between waypoints on the same raster line (m) */
   double point_spacing_;
   /** @brief Distance between raster lines */