Breaking out the less controversial content from #116:
The plane slice tool path planner produces incorrect output for a mesh whose centroid is not near its origin. In my test case, the paths are not straight but follow a curved arc. The culprit is the mesh transformation being applied backwards:
Breaking out the less controversial content from #116:
The plane slice tool path planner produces incorrect output for a mesh whose centroid is not near its origin. In my test case, the paths are not straight but follow a curved arc. The culprit is the mesh transformation being applied backwards:
https://github.com/ros-industrial/noether/blob/0552f11694f4ee7e3d126d567d1ca81fd35ac01c/tool_path_planner/src/plane_slicer_raster_generator.cpp#L471-L481
Result before fix:
Result after fix: