Raster Algorithm

The raster path is generated from four corner poses.

Steps

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

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