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/********************************************************************
* Description: emcpose.c
*
* Miscellaneous functions to handle EmcPose operations
* Derived from a work by Fred Proctor & Will Shackleford
*
* Author: Robert W. Ellenberg
* License: GPL Version 2
* System: Linux
*
* Copyright (c) 2014 All rights reserved.
*
********************************************************************/
#include "emcpose.h"
#include "posemath.h"
#include "rtapi_math.h"
#include "spherical_arc.h"
#include "blendmath.h"
#include "tp_debug.h"
//#define EMCPOSE_PEDANTIC
void emcPoseZero(EmcPose * const pos) {
#ifdef EMCPOSE_PEDANTIC
if(!pos) {
return EMCPOSE_ERR_INPUT_MISSING;
}
#endif
pos->tran.x = 0.0;
pos->tran.y = 0.0;
pos->tran.z = 0.0;
pos->a = 0.0;
pos->b = 0.0;
pos->c = 0.0;
pos->u = 0.0;
pos->v = 0.0;
pos->w = 0.0;
}
int emcPoseAdd(EmcPose const * const p1, EmcPose const * const p2, EmcPose * const out)
{
#ifdef EMCPOSE_PEDANTIC
if (!p1 || !p2) {
return EMCPOSE_ERR_INPUT_MISSING;
}
#endif
pmCartCartAdd(&p1->tran, &p2->tran, &out->tran);
out->a = p1->a + p2->a;
out->b = p1->b + p2->b;
out->c = p1->c + p2->c;
out->u = p1->u + p2->u;
out->v = p1->v + p2->v;
out->w = p1->w + p2->w;
return EMCPOSE_ERR_OK;
}
int emcPoseSub(EmcPose const * const p1, EmcPose const * const p2, EmcPose * const out)
{
#ifdef EMCPOSE_PEDANTIC
if (!p1 || !p2) {
return EMCPOSE_ERR_INPUT_MISSING;
}
#endif
pmCartCartSub(&p1->tran, &p2->tran, &out->tran);
out->a = p1->a - p2->a;
out->b = p1->b - p2->b;
out->c = p1->c - p2->c;
out->u = p1->u - p2->u;
out->v = p1->v - p2->v;
out->w = p1->w - p2->w;
return EMCPOSE_ERR_OK;
}
int emcPoseSelfAdd(EmcPose * const self, EmcPose const * const p2)
{
return emcPoseAdd(self, p2, self);
}
int emcPoseSelfSub(EmcPose * const self, EmcPose const * const p2)
{
return emcPoseSub(self, p2, self);
}
int emcPoseToPmCartesian(EmcPose const * const pose,
PmCartesian * const xyz, PmCartesian * const abc, PmCartesian * const uvw)
{
#ifdef EMCPOSE_PEDANTIC
if (!pose) {
return EMCPOSE_ERR_INPUT_MISSING;
}
if (!xyz | !abc || !uvw) {
return EMCPOSE_ERR_OUTPUT_MISSING;
}
#endif
//Direct copy of translation struct for xyz
*xyz = pose->tran;
//Convert ABCUVW axes into 2 pairs of 3D lines
abc->x = pose->a;
abc->y = pose->b;
abc->z = pose->c;
uvw->x = pose->u;
uvw->y = pose->v;
uvw->z = pose->w;
return EMCPOSE_ERR_OK;
}
/**
* Collect PmCartesian elements into 9D EmcPose structure.
*/
int pmCartesianToEmcPose(PmCartesian const * const xyz,
PmCartesian const * const abc, PmCartesian const * const uvw, EmcPose * const pose)
{
#ifdef EMCPOSE_PEDANTIC
if (!pose) {
return EMCPOSE_ERR_OUTPUT_MISSING;
}
if (!xyz || !abc || !uvw) {
return EMCPOSE_ERR_INPUT_MISSING;
}
#endif
//Direct copy of translation struct for xyz
pose->tran = *xyz;
pose->a = abc->x;
pose->b = abc->y;
pose->c = abc->z;
pose->u = uvw->x;
pose->v = uvw->y;
pose->w = uvw->z;
return EMCPOSE_ERR_OK;
}
int emcPoseSetXYZ(PmCartesian const * const xyz, EmcPose * const pose)
{
#ifdef EMCPOSE_PEDANTIC
if (!pose) {
return EMCPOSE_ERR_OUTPUT_MISSING;
}
if (!xyz) {
return EMCPOSE_ERR_INPUT_MISSING;
}
#endif
pose->tran.x = xyz->x;
pose->tran.y = xyz->y;
pose->tran.z = xyz->z;
return EMCPOSE_ERR_OK;
}
int emcPoseSetABC(PmCartesian const * const abc, EmcPose * const pose)
{
#ifdef EMCPOSE_PEDANTIC
if (!pose) {
return EMCPOSE_ERR_OUTPUT_MISSING;
}
if (!abc) {
return EMCPOSE_ERR_INPUT_MISSING;
}
#endif
pose->a = abc->x;
pose->b = abc->y;
pose->c = abc->z;
return EMCPOSE_ERR_OK;
}
int emcPoseSetUVW(PmCartesian const * const uvw, EmcPose * const pose)
{
#ifdef EMCPOSE_PEDANTIC
if (!pose) {
return EMCPOSE_ERR_OUTPUT_MISSING;
}
if (!uvw) {
return EMCPOSE_ERR_INPUT_MISSING;
}
#endif
pose->u = uvw->x;
pose->v = uvw->y;
pose->w = uvw->z;
return EMCPOSE_ERR_OK;
}
int emcPoseGetXYZ(EmcPose const * const pose, PmCartesian * const xyz)
{
#ifdef EMCPOSE_PEDANTIC
if (!pose) {
return EMCPOSE_ERR_OUTPUT_MISSING;
}
if (!xyz) {
return EMCPOSE_ERR_INPUT_MISSING;
}
#endif
xyz->x = pose->tran.x;
xyz->y = pose->tran.y;
xyz->z = pose->tran.z;
return EMCPOSE_ERR_OK;
}
int emcPoseGetABC(EmcPose const * const pose, PmCartesian * const abc)
{
#ifdef EMCPOSE_PEDANTIC
if (!pose) {
return EMCPOSE_ERR_OUTPUT_MISSING;
}
if (!abc) {
return EMCPOSE_ERR_INPUT_MISSING;
}
#endif
abc->x = pose->a;
abc->y = pose->b;
abc->z = pose->c;
return EMCPOSE_ERR_OK;
}
int emcPoseGetUVW(EmcPose const * const pose, PmCartesian * const uvw)
{
#ifdef EMCPOSE_PEDANTIC
if (!pose) {
return EMCPOSE_ERR_OUTPUT_MISSING;
}
if (!uvw) {
return EMCPOSE_ERR_INPUT_MISSING;
}
#endif
uvw->x = pose->u;
uvw->y = pose->v;
uvw->z = pose->w;
return EMCPOSE_ERR_OK;
}
/**
* Find the magnitude of an EmcPose position, treating it like a single vector.
*/
int emcPoseMagnitude(EmcPose const * const pose, double * const out) {
#ifdef EMCPOSE_PEDANTIC
if (!pose) {
return EMCPOSE_ERR_INPUT_MISSING;
}
if (!out) {
return EMCPOSE_ERR_OUTPUT_MISSING;
}
#endif
double mag = 0.0;
mag += pmSq(pose->tran.x);
mag += pmSq(pose->tran.y);
mag += pmSq(pose->tran.z);
mag += pmSq(pose->a);
mag += pmSq(pose->b);
mag += pmSq(pose->c);
mag += pmSq(pose->u);
mag += pmSq(pose->v);
mag += pmSq(pose->w);
mag = pmSqrt(mag);
*out = mag;
return EMCPOSE_ERR_OK;
}
/**
* Return true for a numerically valid pose, or false for an invalid pose (or null pointer).
*/
int emcPoseValid(EmcPose const * const pose)
{
if (!pose ||
isnan(pose->tran.x) ||
isnan(pose->tran.y) ||
isnan(pose->tran.z) ||
isnan(pose->a) ||
isnan(pose->b) ||
isnan(pose->c) ||
isnan(pose->u) ||
isnan(pose->v) ||
isnan(pose->w)) {
return 0;
} else {
return 1;
}
}
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