Removed flag for planning wrt global axes; added cut direction to message

Author: marip8

noether_msgs/msg/SurfaceWalkRasterGeneratorConfig.msg

@@ -5,13 +5,5 @@ float64 intersection_plane_height 	# Used by the raster_tool_path_planner when o
 float64 min_hole_size 			# A path may pass over holes smaller than this, but must be broken when larger holes are encounterd.
 float64 min_segment_size 		# The minimum segment size to allow when finding intersections; small segments will be discarded
 float64 raster_rot_offset               # Specifies the direction of the raster path in radians
-
-# When set to TRUE: initial cuts are determined using the axes of the
-# coordinate frame in which the mesh is placed.  This may cause the
-# initial cut to miss the part.
-# When set to FALSE: initial cuts are determined using the centroid and
-# principal axes of the part.  This is the old default behavior.  (Note
-# that ROS sets message fields to 0/False by default.)
-bool raster_wrt_global_axes
-
 bool generate_extra_rasters   # Whether an extra raster stroke should be added to the beginning and end of the raster pattern
+geometry_msgs/Vector3 cut_direction  # Desired raster direction, in mesh coordinate system (i.e. global coordinate system)

tool_path_planner/src/utilities.cpp

@@ -152,8 +152,11 @@ bool toSurfaceWalkConfigMsg(noether_msgs::SurfaceWalkRasterGeneratorConfig& conf
   config_msg.min_hole_size = config.min_hole_size;
   config_msg.min_segment_size = config.min_segment_size;
   config_msg.raster_rot_offset = config.raster_rot_offset;
-  config_msg.raster_wrt_global_axes = config.raster_wrt_global_axes;
   config_msg.generate_extra_rasters = config.generate_extra_rasters;
+
+  config_msg.cut_direction.x = config.cut_direction[0];
+  config_msg.cut_direction.y = config.cut_direction[1];
+  config_msg.cut_direction.z = config.cut_direction[2];
   return true;
 }
 
@@ -208,8 +211,12 @@ bool toSurfaceWalkConfig(SurfaceWalkRasterGenerator::Config& config,
   config.min_hole_size = config_msg.min_hole_size;
   config.min_segment_size = config_msg.min_segment_size;
   config.raster_rot_offset = config_msg.raster_rot_offset;
-  config.raster_wrt_global_axes = config_msg.raster_wrt_global_axes;
   config.generate_extra_rasters = config_msg.generate_extra_rasters;
+
+  config.cut_direction[0] = config_msg.cut_direction.x;
+  config.cut_direction[1] = config_msg.cut_direction.y;
+  config.cut_direction[2] = config_msg.cut_direction.z;
+
   return true;
 }