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/********************************************************************
* Description: blendmath.h
* Circular arc blend math functions
*
* Author: Robert W. Ellenberg
* License: GPL Version 2
* System: Linux
*
* Copyright (c) 2014 All rights reserved.
*
* Last change:
********************************************************************/
#ifndef BLENDMATH_H
#define BLENDMATH_H
#include "posemath.h"
#include "tc_types.h"
#define BLEND_ACC_RATIO_TANGENTIAL 0.5
#define BLEND_ACC_RATIO_NORMAL (pmSqrt(1.0 - pmSq(BLEND_ACC_RATIO_TANGENTIAL)))
#define BLEND_KINK_FACTOR 0.25
typedef enum {
BLEND_NONE,
BLEND_LINE_LINE,
BLEND_LINE_ARC,
BLEND_ARC_LINE,
BLEND_ARC_ARC,
} blend_type_t;
/**
* 3D Input geometry for a spherical blend arc.
* This structure contains all of the basic geometry in 3D for a blend arc.
*/
typedef struct {
PmCartesian u1; /* unit vector along line 1 */
PmCartesian u2; /* unit vector along line 2 */
PmCartesian P; /* Intersection point */
PmCartesian normal; /* normal unit vector to plane containing lines */
PmCartesian binormal; /* binormal unit vector to plane containing lines */
PmCartesian u_tan1; /* Actual tangent vector to 1 (used for arcs only) */
PmCartesian u_tan2;
double theta_tan;
double v_max1; /* maximum velocity in direction u_tan1 */
double v_max2; /* maximum velocity in direction u_tan2 */
} BlendGeom3;
/**
* 9D Input geometry for a spherical blend arc.
*/
#ifdef BLEND_9D
typedef struct {
//Not implemented yet
} BlendGeom9;
#endif
/**
* Blend arc parameters (abstracted).
* This structure holds blend arc parameters that have been abstracted from the
* physical geometry. This data is used to find the maximum radius given the
* constraints on the blend. By abstracting the parameters from the geometry,
* the same calculations can be used with any input geometry (lines, arcs, 6 or
* 9 dimensional lines).
*/
typedef struct {
double tolerance; /* Net blend tolerance (min of line 1 and 2) */
double L1; /* Available part of line 1 to blend over */
double L2; /* Available part of line 2 to blend over */
double v_req; /* requsted velocity for the blend arc */
double a_max; /* max acceleration allowed for blend */
/* These fields are considered "output", and may be refactored into a
* separate structure in the future */
double theta; /* Intersection angle, half of angle between -u1 and u2 */
double phi; /* supplement of intersection angle, angle between u1 and u2 */
double a_n_max; /* max normal acceleration allowed */
double R_plan; /* planned radius for blend arc */
double d_plan; /* distance along each line to arc endpoints */
double v_goal; /* desired velocity at max feed override */
double v_plan; /* planned max velocity at max feed override */
double v_actual; /* velocity at feedscale = 1.0 */
double s_arc; /* arc length */
int consume; /* Consume the previous segment */
double line_length;
//Arc specific stuff
int convex1;
int convex2;
double phi1_max;
double phi2_max;
} BlendParameters;
/**
* Output geometry in 3D.
* Stores the three points representing a simple 3D spherical arc.
*/
typedef struct {
PmCartesian arc_start; /* start point for blend arc */
PmCartesian arc_end; /* end point for blend arc */
PmCartesian arc_center; /* center point for blend arc */
double trim1; /* length (line) or angle (arc) to cut from prev_tc */
double trim2; /* length (line) or angle (arc) to cut from tc */
} BlendPoints3;
#ifdef BLEND_9D
typedef struct {
//Not implemented yet
} BlendPoints9;
#endif
double findMaxTangentAngle(double v, double acc, double cycle_time);
double findKinkAccel(double kink_angle, double v_plan, double cycle_time);
double fsign(double f);
int clip_min(double * const x, double min);
int clip_max(double * const x, double max);
double saturate(double x, double max);
int sat_inplace(double * const x, double max);
int checkTangentAngle(PmCircle const * const circ, SphericalArc const * const arc, BlendGeom3 const * const geom, BlendParameters const * const param, double cycle_time, int at_end);
int findIntersectionAngle(PmCartesian const * const u1,
PmCartesian const * const u2, double * const theta);
double pmCartMin(PmCartesian const * const in);
int calculateInscribedDiameter(PmCartesian const * const normal,
PmCartesian const * const bounds, double * const diameter);
int pmCartCartParallel(PmCartesian const * const v1,
PmCartesian const * const v2, double tol);
int pmCircLineCoplanar(PmCircle const * const circ,
PmCartLine const * const line, double tol);
int blendCalculateNormals3(BlendGeom3 * const geom);
int blendComputeParameters(BlendParameters * const param);
int blendCheckConsume(BlendParameters * const param,
BlendPoints3 const * const points,
TC_STRUCT const * const prev_tc, int gap_cycles);
int blendFindPoints3(BlendPoints3 * const points, BlendGeom3 const * const geom,
BlendParameters const * const param);
int blendGeom3Init(BlendGeom3 * const geom,
TC_STRUCT const * const prev_tc,
TC_STRUCT const * const tc);
int blendParamKinematics(BlendGeom3 * const geom,
BlendParameters * const param,
TC_STRUCT const * const prev_tc,
TC_STRUCT const * const tc,
PmCartesian const * const acc_bound,
PmCartesian const * const vel_bound,
double maxFeedScale);
int blendInit3FromLineLine(BlendGeom3 * const geom, BlendParameters * const param,
TC_STRUCT const * const prev_tc,
TC_STRUCT const * const tc,
PmCartesian const * const acc_bound,
PmCartesian const * const vel_bound,
double maxFeedScale);
int blendInit3FromLineArc(BlendGeom3 * const geom, BlendParameters * const param,
TC_STRUCT const * const prev_tc,
TC_STRUCT const * const tc,
PmCartesian const * const acc_bound,
PmCartesian const * const vel_bound,
double maxFeedScale);
int blendInit3FromArcLine(BlendGeom3 * const geom, BlendParameters * const param,
TC_STRUCT const * const prev_tc,
TC_STRUCT const * const tc,
PmCartesian const * const acc_bound,
PmCartesian const * const vel_bound,
double maxFeedScale);
int blendInit3FromArcArc(BlendGeom3 * const geom, BlendParameters * const param,
TC_STRUCT const * const prev_tc,
TC_STRUCT const * const tc,
PmCartesian const * const acc_bound,
PmCartesian const * const vel_bound,
double maxFeedScale);
int blendArcArcPostProcess(BlendPoints3 * const points, BlendPoints3 const * const points_in,
BlendParameters * const param, BlendGeom3 const * const geom,
PmCircle const * const circ1, PmCircle const * const circ2);
int blendLineArcPostProcess(BlendPoints3 * const points, BlendPoints3 const * const points_in,
BlendParameters * const param, BlendGeom3 const * const geom,
PmCartLine const * const line1, PmCircle const * const circ2);
int blendArcLinePostProcess(BlendPoints3 * const points, BlendPoints3 const * const points_in,
BlendParameters * const param, BlendGeom3 const * const geom,
PmCircle const * const circ1, PmCartLine const * const line2);
int arcFromBlendPoints3(SphericalArc * const arc, BlendPoints3 const * const points,
BlendGeom3 const * const geom, BlendParameters const * const param);
//Not implemented yet
int blendGeom3Print(BlendGeom3 const * const geom);
int blendParamPrint(BlendParameters const * const param);
int blendPoints3Print(BlendPoints3 const * const points);
double pmCircleActualMaxVel(PmCircle * const circle, double v_max, double a_max, int parabolic);
#endif
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