Merge pull request #120 from marip8/update/tool-path-planner-document…

…ation

Tool path planner documentation and clean-up

path_sequence_planner/include/path_sequence_planner/path_sequence_planner.h

@@ -27,6 +27,9 @@ namespace path_sequence_planner
 class PathSequencePlanner
 {
 public:
+  PathSequencePlanner() = default;
+  virtual ~PathSequencePlanner() = default;
+
   /** @brief linkPaths Connects all of the paths_ into a single path and flips paths as necessary */
   virtual void linkPaths() = 0;
 
@@ -40,7 +43,7 @@ class PathSequencePlanner
    * @brief getPaths Get the list of paths currently stored (some paths may be flipped after linking)
    * @return The set of paths currently stored
    */
-  virtual tool_path_planner::ToolPaths getPaths() = 0;
+  virtual tool_path_planner::ToolPaths getPaths() const = 0;
 
   /**
    * @brief getIndices Get the list of path indices denoting the order in which paths should be executed

path_sequence_planner/include/path_sequence_planner/simple_path_sequence_planner.h

@@ -31,7 +31,7 @@ class SimplePathSequencePlanner : public PathSequencePlanner
 
   void setPaths(tool_path_planner::ToolPaths paths) override;
 
-  tool_path_planner::ToolPaths getPaths() override;
+  tool_path_planner::ToolPaths getPaths() const override;
 
   std::vector<std::size_t> getIndices() const override;
 

path_sequence_planner/src/simple_path_sequence_planner.cpp

@@ -17,7 +17,7 @@ void SimplePathSequencePlanner::setPaths(tool_path_planner::ToolPaths paths)
   indices_.clear();
 }
 
-tool_path_planner::ToolPaths SimplePathSequencePlanner::getPaths() { return paths_; }
+tool_path_planner::ToolPaths SimplePathSequencePlanner::getPaths() const { return paths_; }
 
 std::vector<std::size_t> SimplePathSequencePlanner::getIndices() const { return indices_; }
 

tool_path_planner/include/tool_path_planner/eigen_value_edge_generator.h

@@ -102,7 +102,6 @@ class EigenValueEdgeGenerator : public PathGenerator
   };
 
   EigenValueEdgeGenerator() = default;
-  virtual ~EigenValueEdgeGenerator() = default;
 
   /**
    * @brief Set the generator configuration

tool_path_planner/include/tool_path_planner/halfedge_edge_generator.h

@@ -69,7 +69,6 @@ class HalfedgeEdgeGenerator : public PathGenerator
   };
 
   HalfedgeEdgeGenerator() = default;
-  virtual ~HalfedgeEdgeGenerator() = default;
 
   /**
    * @brief Set the generator configuration

tool_path_planner/include/tool_path_planner/path_generator.h

@@ -13,8 +13,12 @@
 
 namespace tool_path_planner
 {
-using ToolPathSegment = std::vector<Eigen::Isometry3d>;
+/** @brief A set of contiguous waypoints that lie on the same line created by a "slice" through a surface */
+using ToolPathSegment = std::vector<Eigen::Isometry3d, Eigen::aligned_allocator<Eigen::Isometry3d>>;
+/** @brief A set of tool path segments that lie on the same line created by a tool path "slice",
+ * but are not connected (e.g. due to a hole in the mesh) */
 using ToolPath = std::vector<ToolPathSegment>;
+/** @brief A set of tool paths (i.e. rasters) generated by various different slices through a surface */
 using ToolPaths = std::vector<ToolPath>;
 
 struct ToolPathSegmentData

tool_path_planner/include/tool_path_planner/plane_slicer_raster_generator.h

@@ -126,7 +126,6 @@ class PlaneSlicerRasterGenerator : public PathGenerator
   };
 
   PlaneSlicerRasterGenerator() = default;
-  virtual ~PlaneSlicerRasterGenerator() = default;
 
   /**
    * @brief Set the generator configuration

tool_path_planner/include/tool_path_planner/surface_walk_raster_generator.h

@@ -134,7 +134,6 @@ class SurfaceWalkRasterGenerator : public PathGenerator
                                    jv["generate_extra_rasters"].asBool() :
                                    DEFAULT_GENERATE_EXTRA_RASTERS;
       return true;
-      return true;
     }
 
     bool fromJson(const std::string& jv_string)
@@ -162,7 +161,6 @@ class SurfaceWalkRasterGenerator : public PathGenerator
   };
 
   SurfaceWalkRasterGenerator() = default;
-  virtual ~SurfaceWalkRasterGenerator() = default;
 
   /**
    * @brief Set the generator configuration

tool_path_planner/src/plane_slicer_raster_generator.cpp

@@ -88,15 +88,15 @@ static vtkSmartPointer<vtkTransform> toVtkMatrix(const Eigen::Affine3d& t)
 
 double computeLength(const vtkSmartPointer<vtkPoints>& points)
 {
-  std::size_t num_points = points->GetNumberOfPoints();
+  const vtkIdType num_points = points->GetNumberOfPoints();
   double total_length = 0.0;
   if (num_points < 2)
   {
     return total_length;
   }
 
   Eigen::Vector3d p0, pf;
-  for (std::size_t i = 1; i < num_points; i++)
+  for (vtkIdType i = 1; i < num_points; i++)
   {
     points->GetPoint(i - 1, p0.data());
     points->GetPoint(i, pf.data());
@@ -124,11 +124,10 @@ static vtkSmartPointer<vtkPoints> applyParametricSpline(const vtkSmartPointer<vt
   new_points->InsertNextPoint(pt_prev.data());
 
   // adding remaining points by evaluating spline
-  double incr = point_spacing / total_length;
-  std::size_t num_points = std::ceil(total_length / point_spacing) + 1;
+  std::size_t num_points = static_cast<std::size_t>(std::ceil(total_length / point_spacing) + 1);
   double du[9];
   Eigen::Vector3d u, pt;
-  for (std::size_t i = 1; i < num_points; i++)
+  for (unsigned i = 1; i < num_points; i++)
   {
     double interv = static_cast<double>(i) / static_cast<double>(num_points - 1);
     interv = interv > 1.0 ? 1.0 : interv;
@@ -276,7 +275,7 @@ static void mergeRasterSegments(const vtkSmartPointer<vtkPoints>& points,
         {
           CONSOLE_BRIDGE_logDebug("Merged segment %lu onto segment %lu", j, i);
           current_list = merged_list;
-          merged_list_ids.push_back(j);
+          merged_list_ids.push_back(static_cast<vtkIdType>(j));
           seek_adjacent = true;
           continue;
         }
@@ -286,7 +285,7 @@ static void mergeRasterSegments(const vtkSmartPointer<vtkPoints>& points,
         {
           CONSOLE_BRIDGE_logDebug("Merged segment %lu onto segment %lu", j, i);
           current_list = merged_list;
-          merged_list_ids.push_back(j);
+          merged_list_ids.push_back(static_cast<vtkIdType>(j));
           seek_adjacent = true;
           continue;
         }
@@ -562,7 +561,7 @@ boost::optional<ToolPaths> PlaneSlicerRasterGenerator::generate()
 
   // collect rasters and set direction
   raster_data->Update();
-  std::size_t num_slices = raster_data->GetTotalNumberOfInputConnections();
+  vtkIdType num_slices = raster_data->GetTotalNumberOfInputConnections();
   std::vector<RasterConstructData> rasters_data_vec;
   std::vector<IDVec> raster_ids;
   boost::optional<Vector3d> ref_dir;
@@ -575,7 +574,6 @@ boost::optional<ToolPaths> PlaneSlicerRasterGenerator::generate()
     vtkIdType* indices;
     vtkIdType num_points;
     vtkIdType num_lines = raster_lines->GetNumberOfLines();
-    vtkPoints* points = raster_lines->GetPoints();
     vtkCellArray* cells = raster_lines->GetLines();
 
     CONSOLE_BRIDGE_logDebug("%s raster %i has %i lines and %i points",
@@ -727,13 +725,10 @@ bool PlaneSlicerRasterGenerator::insertNormals(const double search_radius, vtkSm
     // compute normal average
     normal_vect = Eigen::Vector3d::Zero();
     std::size_t num_normals = 0;
-    for (std::size_t p = 0; p < id_list->GetNumberOfIds(); p++)
+    for (auto p = 0; p < id_list->GetNumberOfIds(); p++)
     {
       Eigen::Vector3d temp_normal, query_point, closest_point;
       vtkIdType p_id = id_list->GetId(p);
-      vtkIdType cell_id;
-      int sub_index;
-      double dist;
 
       if (p_id < 0)
       {