Circular blend arc alpha #2
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* Refactored tpRunCycle, tpAddLine, tpAddCircle, and tpAddRigidTap * Cleaned up const specifiers for many function pointers * Implemented pass-by-constant pointer for a few large inputs * Reformatted documentation to be Doxygen compatible
Demonstrates const pointer passing instead of pass-by-value to a few posemath functions that are used in the trajectory planner.
* Fixed a few more structs passed by value * Formatting fixes
An alternative to PmLine was added in PmCartLine, which strips out all of the rotation information. Because each axis is treated as orthogonal and linear as far as trajectory planning, there is no use for an additional rotation term. More complex kinematics are dealt with external to TP, so there is no need for the extra space and processing.
This implementation is basically a copy/paste from the octave scratchwork.
Need to track down init error in Circle init function.
The output looks nominally correct for a simple test case.
* Fixed issue where theta was half of what it should be, causing arcs to be too short. * Fixed intersection angle bug due to comparing prev_tc to itself. * Fixed backward walk to be limited in depth. Hard-coded a constant for now, but eventually this should be user-controllable. * Fixed debug output redundant definitions
Tested with square-spiral test code.
A few functions looked like:
int myfunc(var1,var2){
...
}
Reformatted to look like this:
int myfunc(var1,var2) {
...
}
1. Removed use of fmin causing build error in tc.c. 2. Added formal limit to max tangent angle, which should prevent acceleration overages due to almost-tangent segments 3. Possible fix for minor acceleration overages by increasing min segment length slightly.
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A version of this was merged into linuxcnc's master branch, but github could not automatically identify this pull request as merged. |
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