Created a flat plane tool path planner

noether_gui/CMakeLists.txt

@@ -23,6 +23,7 @@ qt5_wrap_cpp(${PROJECT_NAME}_widget_mocs
   include/${PROJECT_NAME}/widgets/configurable_tpp_pipeline_widget.h
   include/${PROJECT_NAME}/widgets/tpp_widget.h
   # Tool Path Planners
+  include/${PROJECT_NAME}/widgets/tool_path_planners/flat_plane_toolpath_planner_widget.h
   #   Raster
   #   Direction Generator
   include/${PROJECT_NAME}/widgets/tool_path_planners/raster/direction_generators/fixed_direction_generator_widget.h
@@ -49,6 +50,8 @@ qt5_wrap_cpp(${PROJECT_NAME}_widget_mocs
 
 qt5_wrap_ui(${PROJECT_NAME}_widget_ui_mocs
   ui/vector3d_editor_widget.ui
+  ui/isometry3d_editor_widget.ui
+  ui/vector2d_editor_widget.ui
   ui/plugin_loader_widget.ui
   ui/linear_approach_modifier_widget.ui
   ui/raster_planner_widget.ui
@@ -66,6 +69,7 @@ add_library(${PROJECT_NAME} SHARED
   src/widgets/configurable_tpp_pipeline_widget.cpp
   src/widgets/tpp_widget.cpp
   # Tool Path Planners
+  src/widgets/tool_path_planners/flat_plane_toolpath_planner_widget.cpp
   #   Raster Planner
   src/widgets/tool_path_planners/raster/raster_planner_widget.cpp
   #   Direction Generator

noether_gui/include/noether_gui/widgets/tool_path_planners/flat_plane_toolpath_planner_widget.h

@@ -0,0 +1,37 @@
+#pragma once
+
+#include <noether_gui/widgets.h>
+#include <noether_tpp/core/tool_path_planner.h>
+
+class QSpinBox;
+
+namespace Ui
+{
+class Isometry3dEditor;
+}
+
+namespace Ui
+{
+class Vector2dEditor;
+}
+
+namespace noether
+{
+class FlatPlaneToolPathPlannerWidget : public ToolPathPlannerWidget
+{
+  Q_OBJECT
+public:
+  FlatPlaneToolPathPlannerWidget(QWidget* parent = nullptr);
+
+  ToolPathPlanner::ConstPtr create() const override;
+
+  void configure(const YAML::Node&) override;
+  void save(YAML::Node&) const override;
+
+private:
+  Ui::Isometry3dEditor* origin_ui_;
+  Ui::Vector2dEditor* plane_dim_ui_;
+  Ui::Vector2dEditor* spacing_dim_ui_;
+};
+
+}  // namespace noether

noether_gui/src/plugins.cpp

@@ -1,5 +1,6 @@
 #include <noether_gui/plugin_interface.h>
 // Tool path planners
+#include <noether_gui/widgets/tool_path_planners/flat_plane_toolpath_planner_widget.h>
 //   Raster
 #include <noether_gui/widgets/tool_path_planners/raster/raster_planner_widget.h>
 //   Direction Generators
@@ -45,6 +46,8 @@ struct WidgetPluginImpl : WidgetPlugin<BaseT>
     return widget;
   }
 };
+// Tool Path Planners
+using FlatPlaneToolPathPlannerWidgetPlugin = WidgetPluginImpl<FlatPlaneToolPathPlannerWidget, ToolPathPlannerWidget>;
 
 // Direction Generators
 using FixedDirectionGeneratorWidgetPlugin =
@@ -142,4 +145,6 @@ EXPORT_TOOL_PATH_MODIFIER_WIDGET_PLUGIN(noether::CircularLeadOutToolPathModifier
 EXPORT_TOOL_PATH_MODIFIER_WIDGET_PLUGIN(noether::LinearApproachToolPathModifierWidgetPlugin, LinearApproachModifier)
 EXPORT_TOOL_PATH_MODIFIER_WIDGET_PLUGIN(noether::LinearDepartureToolPathModifierWidgetPlugin, LinearDepartureModifier)
 
+EXPORT_TPP_WIDGET_PLUGIN(noether::FlatPlaneToolPathPlannerWidgetPlugin, FlatPlaneToolPathPlanner)
+
 EXPORT_TPP_WIDGET_PLUGIN(noether::PlaneSlicerRasterPlannerWidgetPlugin, PlaneSlicerRasterPlanner)

noether_gui/src/widgets/tool_path_planners/flat_plane_toolpath_planner_widget.cpp

@@ -0,0 +1,131 @@
+#include <noether_gui/widgets/tool_path_planners/flat_plane_toolpath_planner_widget.h>
+#include <noether_gui/utils.h>
+
+#include <noether_tpp/tool_path_planners/flat_plane_toolpath_planner.h>
+#include <QFormLayout>
+#include <QLabel>
+#include <QDoubleSpinBox>
+#include "ui_vector2d_editor_widget.h"
+#include "ui_isometry3d_editor_widget.h"
+
+static const std::string ORIGIN_PX_KEY = "px";
+static const std::string ORIGIN_PY_KEY = "py";
+static const std::string ORIGIN_PZ_KEY = "pz";
+static const std::string ORIGIN_QX_KEY = "qx";
+static const std::string ORIGIN_QY_KEY = "qy";
+static const std::string ORIGIN_QZ_KEY = "qz";
+static const std::string ORIGIN_QW_KEY = "qw";
+
+static const std::string PLANE_X_DIM_KEY = "plane_x_dim";
+static const std::string PLANE_Y_DIM_KEY = "plane_y_dim";
+static const std::string X_SPACING_KEY = "x_spacing";
+static const std::string Y_SPACING_KEY = "y_spacing";
+
+namespace noether
+{
+FlatPlaneToolPathPlannerWidget::FlatPlaneToolPathPlannerWidget(QWidget* parent)
+  : ToolPathPlannerWidget(parent)
+  , origin_ui_(new Ui::Isometry3dEditor())
+  , plane_dim_ui_(new Ui::Vector2dEditor())
+  , spacing_dim_ui_(new Ui::Vector2dEditor())
+{
+  // Create a vertical layout for the entire widget
+  auto mainLayout = new QVBoxLayout(this);
+
+  origin_ui_->setupUi(this);
+  origin_ui_->group_box->setTitle("Offset (position in meters, rotation in radians)");
+
+  plane_dim_ui_->setupUi(this);
+  plane_dim_ui_->group_box->setTitle("Plane Dimensions (m)");
+
+  spacing_dim_ui_->setupUi(this);
+  spacing_dim_ui_->group_box->setTitle("Plane Spacing (m)");
+
+  // Create a container widget to hold the layouts
+  auto containerWidget = new QWidget;
+
+  // Create a layout for the container widget
+  auto containerLayout = new QVBoxLayout(containerWidget);
+
+  // Create a horizontal layout for the spin box and label
+  auto spinBoxLayout = new QHBoxLayout;
+
+  // Add the horizontal layout to the container layout
+  containerLayout->addLayout(spinBoxLayout);
+
+  // Set the container widget as the layout for the Isometry3dEditor and Vector2dEditor widgets
+  origin_ui_->group_box->setSizePolicy(QSizePolicy::Expanding, QSizePolicy::Expanding);
+  containerLayout->addWidget(origin_ui_->group_box);
+
+  plane_dim_ui_->group_box->setSizePolicy(QSizePolicy::Expanding, QSizePolicy::Expanding);
+  containerLayout->addWidget(plane_dim_ui_->group_box);
+
+  spacing_dim_ui_->group_box->setSizePolicy(QSizePolicy::Expanding, QSizePolicy::Expanding);
+  containerLayout->addWidget(spacing_dim_ui_->group_box);
+
+  // Add the container widget to the main layout
+  mainLayout->addWidget(containerWidget);
+
+  // Set the main layout for the entire widget
+  setLayout(mainLayout);
+}
+
+ToolPathPlanner::ConstPtr FlatPlaneToolPathPlannerWidget::create() const
+{
+  Eigen::Isometry3d origin = Eigen::Isometry3d::Identity();
+  // Create a quaternion from roll, pitch, yaw
+  Eigen::Quaterniond q(origin_ui_->double_spin_box_qw->value(),
+                       origin_ui_->double_spin_box_qx->value(),
+                       origin_ui_->double_spin_box_qy->value(),
+                       origin_ui_->double_spin_box_qz->value());
+
+  // Set the translation
+  origin.translation() = Eigen::Vector3d(origin_ui_->double_spin_box_px->value(),
+                                         origin_ui_->double_spin_box_py->value(),
+                                         origin_ui_->double_spin_box_pz->value());
+
+  // Set the rotation
+  origin.rotate(q);
+
+  Eigen::Vector2d plane_dim(plane_dim_ui_->double_spin_box_x->value(), plane_dim_ui_->double_spin_box_y->value());
+  Eigen::Vector2d spacing(spacing_dim_ui_->double_spin_box_x->value(), spacing_dim_ui_->double_spin_box_y->value());
+  return std::make_unique<FlatPlaneToolPathPlanner>(plane_dim, spacing, origin);
+}
+
+void FlatPlaneToolPathPlannerWidget::configure(const YAML::Node& config)
+{
+  origin_ui_->double_spin_box_px->setValue(getEntry<double>(config, ORIGIN_PX_KEY));
+  origin_ui_->double_spin_box_py->setValue(getEntry<double>(config, ORIGIN_PY_KEY));
+  origin_ui_->double_spin_box_pz->setValue(getEntry<double>(config, ORIGIN_PZ_KEY));
+  origin_ui_->double_spin_box_qx->setValue(getEntry<double>(config, ORIGIN_QX_KEY));
+  origin_ui_->double_spin_box_qy->setValue(getEntry<double>(config, ORIGIN_QY_KEY));
+  origin_ui_->double_spin_box_qz->setValue(getEntry<double>(config, ORIGIN_QZ_KEY));
+  origin_ui_->double_spin_box_qw->setValue(getEntry<double>(config, ORIGIN_QW_KEY));
+
+  Eigen::Vector2d plane_dim(getEntry<double>(config, PLANE_X_DIM_KEY), getEntry<double>(config, PLANE_Y_DIM_KEY));
+  plane_dim_ui_->double_spin_box_x->setValue(getEntry<double>(config, PLANE_X_DIM_KEY));
+  plane_dim_ui_->double_spin_box_y->setValue(getEntry<double>(config, PLANE_Y_DIM_KEY));
+
+  Eigen::Vector2d spacing(getEntry<double>(config, X_SPACING_KEY), getEntry<double>(config, Y_SPACING_KEY));
+  spacing_dim_ui_->double_spin_box_x->setValue(getEntry<double>(config, X_SPACING_KEY));
+  spacing_dim_ui_->double_spin_box_y->setValue(getEntry<double>(config, Y_SPACING_KEY));
+}
+
+void FlatPlaneToolPathPlannerWidget::save(YAML::Node& config) const
+{
+  config[ORIGIN_PX_KEY] = origin_ui_->double_spin_box_px->value();
+  config[ORIGIN_PY_KEY] = origin_ui_->double_spin_box_py->value();
+  config[ORIGIN_PZ_KEY] = origin_ui_->double_spin_box_pz->value();
+  config[ORIGIN_QX_KEY] = origin_ui_->double_spin_box_qx->value();
+  config[ORIGIN_QY_KEY] = origin_ui_->double_spin_box_qy->value();
+  config[ORIGIN_QZ_KEY] = origin_ui_->double_spin_box_qz->value();
+  config[ORIGIN_QW_KEY] = origin_ui_->double_spin_box_qw->value();
+
+  config[PLANE_X_DIM_KEY] = plane_dim_ui_->double_spin_box_x->value();
+  config[PLANE_Y_DIM_KEY] = plane_dim_ui_->double_spin_box_y->value();
+
+  config[X_SPACING_KEY] = spacing_dim_ui_->double_spin_box_x->value();
+  config[Y_SPACING_KEY] = spacing_dim_ui_->double_spin_box_y->value();
+}
+
+}  // namespace noether