Reorganize based off raster utils vs plane slicer utils

ros-industrial · Sep 30, 2024 · d1fce84 · d1fce84
1 parent c89cdbc
commit d1fce84
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diff --git a/noether_tpp/include/noether_tpp/tool_path_planners/raster/plane_slicer_raster_planner.h b/noether_tpp/include/noether_tpp/tool_path_planners/raster/plane_slicer_raster_planner.h
@@ -20,8 +20,100 @@
 
 #include <noether_tpp/tool_path_planners/raster/raster_planner.h>
 
+#include <vtkDoubleArray.h>
+#include <vtkPolyData.h>
+#include <vtkPoints.h>
+#include <vtkSmartPointer.h>
+
 namespace noether
 {
+// Constants
+constexpr double EPSILON = 1e-6;
+
+/**
+ * @brief Data structure to hold raster segments and their lengths
+ */
+struct RasterConstructData
+{
+  std::vector<vtkSmartPointer<vtkPolyData>> raster_segments;
+  std::vector<double> segment_lengths;
+};
+
+/**
+ * @brief Computes a rotation matrix from the provided orthogonal vectors
+ * @param vx X-axis vector
+ * @param vy Y-axis vector
+ * @param vz Z-axis vector
+ * @return Rotation matrix
+ */
+Eigen::Matrix3d computeRotation(const Eigen::Vector3d& vx, const Eigen::Vector3d& vy, const Eigen::Vector3d& vz);
+
+/**
+ * @brief Computes the total length of the provided points
+ * @param points VTK points
+ * @return Total length
+ */
+double computeLength(const vtkSmartPointer<vtkPoints>& points);
+
+/**
+ * @brief Applies a parametric spline to the provided points and resamples them based on point spacing
+ * @param points Input points
+ * @param total_length Total length of the points
+ * @param point_spacing Desired spacing between points
+ * @return New set of points after applying the spline
+ */
+vtkSmartPointer<vtkPoints> applyParametricSpline(const vtkSmartPointer<vtkPoints>& points,
+                                                 double total_length,
+                                                 double point_spacing);
+
+/**
+ * @brief Removes redundant point indices that appear in multiple lists
+ * @param points_lists Vector of point index lists
+ */
+void removeRedundant(std::vector<std::vector<vtkIdType>>& points_lists);
+
+/**
+ * @brief Merges raster segments that are within a certain distance of each other
+ * @param points VTK points
+ * @param merge_dist Distance threshold for merging
+ * @param points_lists Vector of point index lists representing raster segments
+ */
+void mergeRasterSegments(const vtkSmartPointer<vtkPoints>& points,
+                         double merge_dist,
+                         std::vector<std::vector<vtkIdType>>& points_lists);
+
+/**
+ * @brief Rectifies the direction of raster segments based on a reference point
+ * @param points VTK points
+ * @param ref_point Reference point for direction rectification
+ * @param points_lists Vector of point index lists representing raster segments
+ */
+void rectifyDirection(const vtkSmartPointer<vtkPoints>& points,
+                      const Eigen::Vector3d& ref_point,
+                      std::vector<std::vector<vtkIdType>>& points_lists);
+
+/**
+ * @brief Converts raster data to tool paths with poses
+ * @param rasters_data Vector of raster construction data
+ * @return Tool paths generated from the raster data
+ */
+ToolPaths convertToPoses(const std::vector<RasterConstructData>& rasters_data);
+
+/**
+ * @brief Gets the distances (normal to the cut plane) from the cut origin to the closest and furthest corners of the
+ * mesh
+ * @param obb_size Column-wise matrix of the object-aligned size vectors of the mesh (from PCA), relative to the mesh
+ * origin
+ * @param pca_centroid Centroid of the mesh determined by PCA, relative to the mesh origin
+ * @param cut_origin Origin of the raster pattern, relative to the mesh origin
+ * @param cut_normal Raster cut plane normal, relative to the mesh origin
+ * @return Tuple of (min distance, max distance)
+ */
+std::tuple<double, double> getDistancesToMinMaxCuts(const Eigen::Matrix3d& obb_size,
+                                                    const Eigen::Vector3d& pca_centroid,
+                                                    const Eigen::Vector3d& cut_origin,
+                                                    const Eigen::Vector3d& cut_normal);
+
 /**
  * @brief An implementation of the Raster Planner using a series of parallel cutting planes.
  * This implementation works best on approximately planar parts.

diff --git a/noether_tpp/include/noether_tpp/tool_path_planners/raster/raster_utils.h b/noether_tpp/include/noether_tpp/tool_path_planners/raster/raster_utils.h
@@ -11,112 +11,23 @@
 #include <pcl/PolygonMesh.h>
 
 #include <vtkSmartPointer.h>
-#include <vtkPoints.h>
 #include <vtkPolyData.h>
 #include <vtkKdTreePointLocator.h>
-#include <vtkDoubleArray.h>
 
 namespace noether
 {
-// Constants
-constexpr double EPSILON = 1e-6;
-
-/**
- * @brief Data structure to hold raster segments and their lengths
- */
-struct RasterConstructData
-{
-  std::vector<vtkSmartPointer<vtkPolyData>> raster_segments;
-  std::vector<double> segment_lengths;
-};
-
-/**
- * @brief Computes a rotation matrix from the provided orthogonal vectors
- * @param vx X-axis vector
- * @param vy Y-axis vector
- * @param vz Z-axis vector
- * @return Rotation matrix
- */
-Eigen::Matrix3d computeRotation(const Eigen::Vector3d& vx, const Eigen::Vector3d& vy, const Eigen::Vector3d& vz);
-
 /**
- * @brief Computes the total length of the provided points
- * @param points VTK points
- * @return Total length
- */
-double computeLength(const vtkSmartPointer<vtkPoints>& points);
-
-/**
- * @brief Applies a parametric spline to the provided points and resamples them based on point spacing
- * @param points Input points
- * @param total_length Total length of the points
- * @param point_spacing Desired spacing between points
- * @return New set of points after applying the spline
- */
-vtkSmartPointer<vtkPoints> applyParametricSpline(const vtkSmartPointer<vtkPoints>& points,
-                                                 double total_length,
-                                                 double point_spacing);
-
-/**
- * @brief Removes redundant point indices that appear in multiple lists
- * @param points_lists Vector of point index lists
- */
-void removeRedundant(std::vector<std::vector<vtkIdType>>& points_lists);
-
-/**
- * @brief Merges raster segments that are within a certain distance of each other
- * @param points VTK points
- * @param merge_dist Distance threshold for merging
- * @param points_lists Vector of point index lists representing raster segments
- */
-void mergeRasterSegments(const vtkSmartPointer<vtkPoints>& points,
-                         double merge_dist,
-                         std::vector<std::vector<vtkIdType>>& points_lists);
-
-/**
- * @brief Rectifies the direction of raster segments based on a reference point
- * @param points VTK points
- * @param ref_point Reference point for direction rectification
- * @param points_lists Vector of point index lists representing raster segments
- */
-void rectifyDirection(const vtkSmartPointer<vtkPoints>& points,
-                      const Eigen::Vector3d& ref_point,
-                      std::vector<std::vector<vtkIdType>>& points_lists);
-
-/**
- * @brief Converts raster data to tool paths with poses
- * @param rasters_data Vector of raster construction data
- * @return Tool paths generated from the raster data
- */
-ToolPaths convertToPoses(const std::vector<RasterConstructData>& rasters_data);
-
-/**
- * @brief Inserts normals into the provided polydata by averaging normals from nearby mesh points
+ * @brief Inserts normals into the provided segment by averaging normals from nearby mesh points
  * @param search_radius Radius to search for nearby points
  * @param mesh_data_ Mesh data containing normals
  * @param kd_tree_ Kd-tree for efficient nearest neighbor search
- * @param data Polydata to insert normals into
+ * @param segment_data Polydata defining raster segment to insert normals into
  * @return True if normals were successfully inserted, false otherwise
  */
 bool insertNormals(const double search_radius,
                    vtkSmartPointer<vtkPolyData>& mesh_data_,
                    vtkSmartPointer<vtkKdTreePointLocator>& kd_tree_,
-                   vtkSmartPointer<vtkPolyData>& data);
-
-/**
- * @brief Gets the distances (normal to the cut plane) from the cut origin to the closest and furthest corners of the
- * mesh
- * @param obb_size Column-wise matrix of the object-aligned size vectors of the mesh (from PCA), relative to the mesh
- * origin
- * @param pca_centroid Centroid of the mesh determined by PCA, relative to the mesh origin
- * @param cut_origin Origin of the raster pattern, relative to the mesh origin
- * @param cut_normal Raster cut plane normal, relative to the mesh origin
- * @return Tuple of (min distance, max distance)
- */
-std::tuple<double, double> getDistancesToMinMaxCuts(const Eigen::Matrix3d& obb_size,
-                                                    const Eigen::Vector3d& pca_centroid,
-                                                    const Eigen::Vector3d& cut_origin,
-                                                    const Eigen::Vector3d& cut_normal);
+                   vtkSmartPointer<vtkPolyData>& segment_data);
 
 /**
  * @brief Converts a pcl::PolygonMesh to a vtkSmartPointer<vtkPolyData> and computes normals if necessary.