#include <donghong_ding_base.hpp>

Inheritance diagram for ram_path_planning::DonghongDingBase< ActionSpec >:

Public Types
typedef std::vector< PolygonVector >	Layer

typedef vtkSmartPointer< vtkPolyData >	Polygon

typedef std::vector< Polygon >	PolygonVector

Public Member Functions
std::string	connectMeshLayers (actionlib::ServerGoalHandle< ActionSpec > &gh, const int current_progrress_value, const int next_progress_value, std::vector< Layer > &layers, ram_msgs::AdditiveManufacturingTrajectory &msg)

void	connectYamlLayers (actionlib::ServerGoalHandle< ActionSpec > &gh, const int current_progrress_value, const int next_progress_value, const Layer &current_layer, ram_msgs::AdditiveManufacturingTrajectory &msg, const double number_of_layers, const double height_between_layers, const std::array< double, 3 > offset_direction={0, 0, 1})

	DonghongDingBase (const std::string name, const std::string description, const std::string service_name)

virtual	~DonghongDingBase ()=0

Public Member Functions inherited from ram_path_planning::PathPlanningAlgorithm< ActionSpec >
	PathPlanningAlgorithm (const std::string name, const std::string description, const std::string service_name)

bool	publishPercentageDone (const unsigned percentage, actionlib::ServerGoalHandle< ActionSpec > &gh)

bool	publishStatusDone (const std::string progress_msg, actionlib::ServerGoalHandle< ActionSpec > &gh)

bool	publishStatusPercentageDone (const std::string progress_msg, const unsigned percentage, actionlib::ServerGoalHandle< ActionSpec > &gh)

virtual	~PathPlanningAlgorithm ()=0

Protected Member Functions
double	angleBetweenVectors (const double v1[3], const double v2[3])

void	computeNormal (vtkPoints p, double n)

void	connectLayersWithOnePolygon (actionlib::ServerGoalHandle< ActionSpec > &gh, const int current_progrress_value, const int next_progress_value, std::vector< Layer > &layers, ram_msgs::AdditiveManufacturingTrajectory &msg, const unsigned first_layer)

void	divideInLayersWithOnePolygon (std::vector< Layer > &layers, ram_msgs::AdditiveManufacturingTrajectory &msg, const unsigned first_layer)

void	identifyRelationships (const Polygon poly_data, std::vector< int > &level, std::vector< int > &father)

bool	intersectionBetweenContours (const Polygon poly_data)

bool	mergeColinearEdges (const Polygon poly_data, const double tolerance=1e-6)

bool	offsetPolygonContour (const Polygon poly_data, const double deposited_material_width)

bool	organizePolygonContoursInLayer (const Polygon poly_data, const std::vector< int > level, const std::vector< int > father, Layer &layer)

bool	removeDuplicatePoints (const Polygon poly_data, const double tolerance=1e-6)

Protected Attributes
const double	calculation_tol_ = 1e-6

double	deposited_material_width_

double	normal_vector_ [3]

Additional Inherited Members
Public Attributes inherited from ram_path_planning::PathPlanningAlgorithm< ActionSpec >
const std::string	description_

const std::string	name_

const std::string	service_name_

Detailed Description

template<class ActionSpec>
class ram_path_planning::DonghongDingBase< ActionSpec >

Definition at line 25 of file donghong_ding_base.hpp.

Member Typedef Documentation

template<class ActionSpec >

typedef std::vector<PolygonVector> ram_path_planning::DonghongDingBase< ActionSpec >::Layer

Definition at line 32 of file donghong_ding_base.hpp.

template<class ActionSpec >

typedef vtkSmartPointer<vtkPolyData> ram_path_planning::DonghongDingBase< ActionSpec >::Polygon

Definition at line 30 of file donghong_ding_base.hpp.

template<class ActionSpec >

typedef std::vector<Polygon> ram_path_planning::DonghongDingBase< ActionSpec >::PolygonVector

Definition at line 31 of file donghong_ding_base.hpp.

Constructor & Destructor Documentation

template<class ActionSpec >

ram_path_planning::DonghongDingBase< ActionSpec >::DonghongDingBase	(	const std::string	name,
		const std::string	description,
		const std::string	service_name
	)

Definition at line 8 of file donghong_ding_base_imp.hpp.

template<class ActionSpec >

ram_path_planning::DonghongDingBase< ActionSpec >::~DonghongDingBase ( )

pure virtual

Definition at line 16 of file donghong_ding_base_imp.hpp.

Member Function Documentation

template<class ActionSpec >

double ram_path_planning::DonghongDingBase< ActionSpec >::angleBetweenVectors	(	const double	v1[3],
		const double	v2[3]
	)

protected

Definition at line 261 of file donghong_ding_base_imp.hpp.

template<class ActionSpec >

void ram_path_planning::DonghongDingBase< ActionSpec >::computeNormal	(	vtkPoints *	p,
		double *	n
	)

protected

Definition at line 274 of file donghong_ding_base_imp.hpp.

template<class ActionSpec >

void ram_path_planning::DonghongDingBase< ActionSpec >::connectLayersWithOnePolygon	(	actionlib::ServerGoalHandle< ActionSpec > &	gh,
		const int	current_progrress_value,
		const int	next_progress_value,
		std::vector< Layer > &	layers,
		ram_msgs::AdditiveManufacturingTrajectory &	msg,
		const unsigned	first_layer
	)

protected

Definition at line 128 of file donghong_ding_base_imp.hpp.

template<class ActionSpec >

std::string ram_path_planning::DonghongDingBase< ActionSpec >::connectMeshLayers	(	actionlib::ServerGoalHandle< ActionSpec > &	gh,
		const int	current_progrress_value,
		const int	next_progress_value,
		std::vector< Layer > &	layers,
		ram_msgs::AdditiveManufacturingTrajectory &	msg
	)

Definition at line 22 of file donghong_ding_base_imp.hpp.

template<class ActionSpec >

void ram_path_planning::DonghongDingBase< ActionSpec >::connectYamlLayers	(	actionlib::ServerGoalHandle< ActionSpec > &	gh,
		const int	current_progrress_value,
		const int	next_progress_value,
		const Layer &	current_layer,
		ram_msgs::AdditiveManufacturingTrajectory &	msg,
		const double	number_of_layers,
		const double	height_between_layers,
		const std::array< double, 3 >	offset_direction = `{0, 0, 1}`
	)

Definition at line 60 of file donghong_ding_base_imp.hpp.

template<class ActionSpec >

void ram_path_planning::DonghongDingBase< ActionSpec >::divideInLayersWithOnePolygon	(	std::vector< Layer > &	layers,
		ram_msgs::AdditiveManufacturingTrajectory &	msg,
		const unsigned	first_layer
	)

protected

Definition at line 734 of file donghong_ding_base_imp.hpp.

template<class ActionSpec >

void ram_path_planning::DonghongDingBase< ActionSpec >::identifyRelationships	(	const Polygon	poly_data,
		std::vector< int > &	level,
		std::vector< int > &	father
	)

protected

Definition at line 438 of file donghong_ding_base_imp.hpp.

template<class ActionSpec >

bool ram_path_planning::DonghongDingBase< ActionSpec >::intersectionBetweenContours ( const Polygon poly_data )

protected

Definition at line 384 of file donghong_ding_base_imp.hpp.

template<class ActionSpec >

bool ram_path_planning::DonghongDingBase< ActionSpec >::mergeColinearEdges	(	const Polygon	poly_data,
		const double	tolerance = `1e-6`
	)

protected

Definition at line 683 of file donghong_ding_base_imp.hpp.

template<class ActionSpec >

bool ram_path_planning::DonghongDingBase< ActionSpec >::offsetPolygonContour	(	const Polygon	poly_data,
		const double	deposited_material_width
	)

protected

Definition at line 309 of file donghong_ding_base_imp.hpp.

template<class ActionSpec >

bool ram_path_planning::DonghongDingBase< ActionSpec >::organizePolygonContoursInLayer	(	const Polygon	poly_data,
		const std::vector< int >	level,
		const std::vector< int >	father,
		Layer &	layer
	)

protected

Definition at line 505 of file donghong_ding_base_imp.hpp.

template<class ActionSpec >

bool ram_path_planning::DonghongDingBase< ActionSpec >::removeDuplicatePoints	(	const Polygon	poly_data,
		const double	tolerance = `1e-6`
	)

protected

Definition at line 634 of file donghong_ding_base_imp.hpp.

Member Data Documentation

template<class ActionSpec >

const double ram_path_planning::DonghongDingBase< ActionSpec >::calculation_tol_ = 1e-6

protected

Definition at line 56 of file donghong_ding_base.hpp.

template<class ActionSpec >

double ram_path_planning::DonghongDingBase< ActionSpec >::deposited_material_width_

protected

Definition at line 58 of file donghong_ding_base.hpp.

template<class ActionSpec >

double ram_path_planning::DonghongDingBase< ActionSpec >::normal_vector_[3]

protected

Definition at line 55 of file donghong_ding_base.hpp.

The documentation for this class was generated from the following files:

Public Types

Public Member Functions

Protected Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

template<class ActionSpec> class ram_path_planning::DonghongDingBase< ActionSpec >

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation

template<class ActionSpec>
class ram_path_planning::DonghongDingBase< ActionSpec >