Raster Algorithm

Raster Algorithm

The raster path is generated from four corner poses.

Steps

1. transform all four corners into the base frame if needed
2. treat top_left -> bottom_left as the left scan edge
3. treat top_right -> bottom_right as the right scan edge
4. interpolate points along both edges using SciPy linear interpolation with the line spacing
5. connect each left/right pair in alternating order to create a zig-zag polyline
6. sample that polyline again with SciPy linear interpolation using the waypoint spacing
7. keep the tool orientation fixed to the orientation of the starting pose
8. convert each absolute waypoint into a relative move before sending it to ArmControl

Notes

• line spacing and waypoint spacing are currently hardcoded in the node
• no screw returned at a waypoint does not fail the scan
• screw detections are de-duplicated by Euclidean distance so the same screw is not appended repeatedly from nearby viewpoints

Interpolation using SciPy

The node uses SciPy only for simple linear interpolation through scipy.interpolate.interp1d.

It is used twice:

• to interpolate points along the left and right scan edges
• to resample the final zig-zag polyline into evenly spaced waypoints

So SciPy is not being used for optimization or complex path planning here. It is only being used as a straightforward interpolation utility.