Updated uniform spacing modifiers

noether_gui/CMakeLists.txt

@@ -69,8 +69,7 @@ add_library(
   src/widgets/tool_path_modifiers/biased_tool_drag_orientation_modifier_widget.cpp
   src/widgets/tool_path_modifiers/uniform_orientation_modifier_widget.cpp
   src/widgets/tool_path_modifiers/offset_modifier_widget.cpp
-  src/widgets/tool_path_modifiers/uniform_spacing_spline_modifier_widget.cpp
-  src/widgets/tool_path_modifiers/uniform_spacing_linear_modifier_widget.cpp
+  src/widgets/tool_path_modifiers/uniform_spacing_modifier_widget.cpp
   # Mesh Modifiers
   src/widgets/mesh_modifiers/euclidean_clustering_modifier_widget.cpp
   src/widgets/mesh_modifiers/face_subdivision_modifier_widget.cpp

noether_gui/include/noether_gui/widgets/tool_path_modifiers/uniform_spacing_linear_modifier_widget.h → noether_gui/include/noether_gui/widgets/tool_path_modifiers/uniform_spacing_modifier_widget.h

@@ -2,23 +2,26 @@
 
 #include <noether_gui/widgets.h>
 
-namespace noether
+namespace Ui
 {
-class DistanceDoubleSpinBox;
+class UniformSpacing;
+}
 
+namespace noether
+{
 /**
  * @ingroup gui_widgets_tool_path_modifiers
  */
-class UniformSpacingLinearModifierWidget : public BaseWidget
+class UniformSpacingModifierWidget : public BaseWidget
 {
 public:
-  UniformSpacingLinearModifierWidget(QWidget* parent = nullptr);
+  UniformSpacingModifierWidget(QWidget* parent = nullptr);
 
   void configure(const YAML::Node& config) override;
   void save(YAML::Node& config) const override;
 
 protected:
-  DistanceDoubleSpinBox* point_spacing_;
+  Ui::UniformSpacing* ui_;
 };
 
 }  // namespace noether

noether_gui/src/plugins.cpp

@@ -31,8 +31,7 @@
 #include <noether_gui/widgets/tool_path_modifiers/linear_departure_modifier_widget.h>
 #include <noether_gui/widgets/tool_path_modifiers/minimum_segment_length_modifier_widget.h>
 #include <noether_gui/widgets/tool_path_modifiers/offset_modifier_widget.h>
-#include <noether_gui/widgets/tool_path_modifiers/uniform_spacing_spline_modifier_widget.h>
-#include <noether_gui/widgets/tool_path_modifiers/uniform_spacing_linear_modifier_widget.h>
+#include <noether_gui/widgets/tool_path_modifiers/uniform_spacing_modifier_widget.h>
 #include <noether_gui/widgets/tool_path_modifiers/spline_extrapolation_modifier_widget.h>
 // Mesh Modifiers
 #include <noether_gui/widgets/mesh_modifiers/euclidean_clustering_modifier_widget.h>
@@ -121,8 +120,7 @@ EXPORT_SIMPLE_TOOL_PATH_MODIFIER_WIDGET_PLUGIN(LinearDepartureToolPathModifierWi
 EXPORT_SIMPLE_TOOL_PATH_MODIFIER_WIDGET_PLUGIN(MinimumSegmentLengthToolPathModifierWidget, MinimumSegmentLength)
 EXPORT_SIMPLE_TOOL_PATH_MODIFIER_WIDGET_PLUGIN(ConcatenateModifierWidget, Concatenate)
 EXPORT_SIMPLE_TOOL_PATH_MODIFIER_WIDGET_PLUGIN(OffsetModifierWidget, Offset)
-EXPORT_SIMPLE_TOOL_PATH_MODIFIER_WIDGET_PLUGIN(UniformSpacingSplineModifierWidget, UniformSpacingSpline)
-EXPORT_SIMPLE_TOOL_PATH_MODIFIER_WIDGET_PLUGIN(UniformSpacingLinearModifierWidget, UniformSpacingLinear)
+EXPORT_SIMPLE_TOOL_PATH_MODIFIER_WIDGET_PLUGIN(UniformSpacingModifierWidget, UniformSpacing)
 EXPORT_SIMPLE_TOOL_PATH_MODIFIER_WIDGET_PLUGIN(SplineExtrapolationToolPathModifierWidget, SplineExtrapolation)
 
 }  // namespace noether

noether_gui/src/widgets/tool_path_modifiers/uniform_spacing_modifier_widget.cpp

@@ -0,0 +1,30 @@
+#include <noether_gui/widgets/tool_path_modifiers/uniform_spacing_modifier_widget.h>
+#include "ui_uniform_spacing_modifier_widget.h"
+#include <noether_gui/widgets/distance_double_spin_box.h>
+
+#include <noether_tpp/serialization.h>
+
+namespace noether
+{
+UniformSpacingModifierWidget::UniformSpacingModifierWidget(QWidget* parent)
+  : BaseWidget(parent), ui_(new Ui::UniformSpacing())
+{
+  ui_->setupUi(this);
+}
+
+void UniformSpacingModifierWidget::configure(const YAML::Node& config)
+{
+  ui_->point_spacing->setValue(YAML::getMember<double>(config, "point_spacing"));
+  ui_->spline_degree->setValue(YAML::getMember<int>(config, "spline_degree"));
+  ui_->include_endpoints->setChecked(YAML::getMember<bool>(config, "include_endpoints"));
+}
+
+void UniformSpacingModifierWidget::save(YAML::Node& config) const
+{
+  config["name"] = "UniformSpacing";
+  config["point_spacing"] = ui_->point_spacing->value();
+  config["spline_degree"] = ui_->spline_degree->value();
+  config["include_endpoints"] = ui_->include_endpoints->isChecked();
+}
+
+}  // namespace noether

noether_gui/src/widgets/tool_path_modifiers/uniform_spacing_modifier_widget.ui

@@ -0,0 +1,92 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<ui version="4.0">
+ <class>UniformSpacing</class>
+ <widget class="QWidget" name="UniformSpacing">
+  <property name="geometry">
+   <rect>
+    <x>0</x>
+    <y>0</y>
+    <width>347</width>
+    <height>226</height>
+   </rect>
+  </property>
+  <property name="windowTitle">
+   <string>Form</string>
+  </property>
+  <layout class="QVBoxLayout" name="verticalLayout">
+   <item>
+    <layout class="QFormLayout" name="formLayout">
+     <item row="0" column="0">
+      <widget class="QLabel" name="label">
+       <property name="text">
+        <string>Point spacing</string>
+       </property>
+      </widget>
+     </item>
+     <item row="0" column="1">
+      <widget class="noether::DistanceDoubleSpinBox" name="point_spacing">
+       <property name="decimals">
+        <number>3</number>
+       </property>
+       <property name="singleStep">
+        <double>0.010000000000000</double>
+       </property>
+       <property name="value">
+        <double>0.010000000000000</double>
+       </property>
+      </widget>
+     </item>
+     <item row="1" column="0">
+      <widget class="QLabel" name="label_2">
+       <property name="text">
+        <string>Spline degree</string>
+       </property>
+      </widget>
+     </item>
+     <item row="1" column="1">
+      <widget class="QSpinBox" name="spline_degree">
+       <property name="minimum">
+        <number>1</number>
+       </property>
+       <property name="maximum">
+        <number>3</number>
+       </property>
+      </widget>
+     </item>
+    </layout>
+   </item>
+   <item>
+    <widget class="QCheckBox" name="include_endpoints">
+     <property name="text">
+      <string>Include endpoints</string>
+     </property>
+    </widget>
+   </item>
+   <item>
+    <spacer name="verticalSpacer">
+     <property name="orientation">
+      <enum>Qt::Vertical</enum>
+     </property>
+     <property name="sizeHint" stdset="0">
+      <size>
+       <width>20</width>
+       <height>40</height>
+      </size>
+     </property>
+    </spacer>
+   </item>
+  </layout>
+ </widget>
+ <customwidgets>
+  <customwidget>
+   <class>noether::DistanceDoubleSpinBox</class>
+   <extends>QDoubleSpinBox</extends>
+   <header location="global">noether_gui/widgets/distance_double_spin_box.h</header>
+  </customwidget>
+ </customwidgets>
+ <tabstops>
+  <tabstop>point_spacing</tabstop>
+ </tabstops>
+ <resources/>
+ <connections/>
+</ui>

noether_tpp/CMakeLists.txt

@@ -53,8 +53,9 @@ add_library(
   ${PROJECT_NAME} SHARED
   # Core
   src/core/tool_path_planner_pipeline.cpp
-  src/utils.cpp
   src/plugin_interface.cpp
+  src/splines.cpp
+  src/utils.cpp
   # Mesh Modifiers
   src/mesh_modifiers/subset_extraction/subset_extractor.cpp
   src/mesh_modifiers/subset_extraction/extruded_polygon_subset_extractor.cpp
@@ -89,8 +90,7 @@ add_library(
   src/tool_path_modifiers/tool_drag_orientation_modifier.cpp
   src/tool_path_modifiers/uniform_orientation_modifier.cpp
   src/tool_path_modifiers/offset_modifier.cpp
-  src/tool_path_modifiers/uniform_spacing_spline_modifier.cpp
-  src/tool_path_modifiers/uniform_spacing_linear_modifier.cpp
+  src/tool_path_modifiers/uniform_spacing_modifier.cpp
   # Tool Path Planners
   src/tool_path_planners/multi_tool_path_planner.cpp
   src/tool_path_planners/edge/edge_planner.cpp

noether_tpp/include/noether_tpp/splines.h

@@ -0,0 +1,67 @@
+#pragma once
+
+#include <unsupported/Eigen/Splines>
+#include <Eigen/Dense>
+
+namespace noether
+{
+/**
+ * @details Samples the input spline at the given spline parameter to create a 6-DoF pose, where the x-axis is aligned
+ * with the first derivative of the spline.
+ * @param spline
+ * @param u Spline parameter (on [0, 1]) at which to sample the spline
+ * @param ref_z Reference z-axis for use in computing the pose orientation
+ * @return
+ */
+Eigen::Isometry3d sample(const Eigen::Spline3d& spline, const double u, const Eigen::Vector3d& ref_z);
+
+/**
+ * @details Computes the lengths (m) of each polynomial span of the spline. This method applies Simpson's composite 3/8
+ * rule to numerically integrate the first derivative of each polynomial segment of the spline to compute the distance
+ * @param spline
+ * @return Vector of lengths (m) of each polynomial span of the spline (size `n_knots - 1`)
+ */
+std::vector<double> computeSpanLengths(const Eigen::Spline3d& spline);
+
+/**
+ * @details Computes the distances (m) along the spline to each knot. This method performs a cumulative sum of the span
+ * lengths (given by computeSpanLengths) to return the total distance (m) along the spline to each knot
+ * @param spline
+ * @return Vector of distances (m) to each knot in the spline (size `n_knots`)
+ */
+std::vector<double> computeKnotDistances(const Eigen::Spline3d& spline);
+
+/**
+ * @details Computes the length (m) of the input spline. This method sums the length of all polynomial spans of the
+ * spline, given by computeSpanLengths
+ * @param spline
+ * @return
+ */
+double computeLength(const Eigen::Spline3d& spline);
+
+/**
+ * @details Computes the spline parameter at a specific distance along on the spline
+ * @param spline
+ * @param dist Distance (m) along spline. When this value is negative, or greater than the length of the spline the
+ * first/last polynomial segment will be extrapolated.
+ * @param tol Error tolerance (m) with which to calculate the distance
+ * @return
+ */
+double computeSplineParameterAtDistance(const Eigen::Spline3d& spline, const double dist, const double tol = 1.0e-4);
+
+/**
+ * @details Computes equidistant knot points along a spline. If the endpoints of the spline are included, the remaining
+ * equally spaced points will be centered in between them.
+ * @param spline
+ * @param knot_spacing Spacing (m) between knots on the spline
+ * @param include_endpoints Flag to indicate that the spline parameters for the endpoints of the spline (i.e., 0 and 1)
+ * should be included in the output
+ * @param tol Error tolerance (m) for calculating the distance along the spline
+ * @return Vector of spline parameters that are equally spaced in distance along the spline
+ */
+std::vector<double> computeEquidistantKnots(const Eigen::Spline3d& spline,
+                                            const double knot_spacing,
+                                            const bool include_endpoints = false,
+                                            const double tol = 1.0e-4);
+
+}  //  namespace noether