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godel_process_path_generation

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Godel Process Path Generation

This package creates the high-level process path for surface blending.

Running Visualization

  • Note: If package godel_polygon_offset is used, start its node:
  • rosrun godel_polygon_offset godel_polygon_offset_node
  • rosrun rviz rviz (use path_visualization.rviz in test)
  • rosrun godel_process_path_generation process_visualization_node --demo

Input

  • Pointcloud of a surface.
    • Outside edge of surface is assumed to be boundary.
    • Internal edges are currently ignored, but will be incorporated as features in the future.
  • Tool radius or diameter
  • Desired offset for each loop (absolute)
  • Safe height for rapid transit moves

Output

  • ProcessPlan for the entire surface.
    • ProcessPlan should be sent to TrajectoryPlanner for trajectory planning.

Classes

MeshImporter

  • Input: pcl::Mesh
  • Actions
    • fitMeshToPlane
      • Plane represented by origin at COM of mesh, and plane normal
    • flattenToPlane(vector<points/vertices>)
    • transformTo2D(vector<points>)
    • fIndPointOnExternalBoundary(const &pcl::mesh)
    • extractExternalBoundary(const &pcl::mesh, etc)
  • Member Variables
    • pcl::Mesh pointcloud
    • transform (calculated from FitMeshToPlane)
      • transform from global coordinates to local plane coordinates
    • vector<pcl::points> boundary