Resolved openpnp#998 merging issues.

src/main/java/org/openpnp/machine/reference/ReferenceHead.java

@@ -136,7 +136,7 @@ public boolean isInsideSoftLimits(HeadMountable hm, Location location)  throws E
              */
             if (hm instanceof ReferenceHeadMountable) {
                 Location cameraLocation = ((AbstractHeadMountable) hm).toHeadLocation(location);
-                cameraLocation = ((ReferenceCamera) getDefaultCamera()).fromHeadLocation(cameraLocation);
+                cameraLocation = ((ReferenceCamera) getDefaultCamera()).toHeadMountableLocation(cameraLocation);
                 Location minLocation = this.minLocation.convertToUnits(cameraLocation.getUnits());
                 Location maxLocation = this.maxLocation.convertToUnits(cameraLocation.getUnits());
                 if (cameraLocation.getX() < minLocation.getX() || cameraLocation.getX() > maxLocation.getX() ||

src/main/java/org/openpnp/machine/reference/ReferenceNozzle.java

@@ -30,6 +30,7 @@
 import org.openpnp.spi.Nozzle;
 import org.openpnp.spi.NozzleTip;
 import org.openpnp.spi.PropertySheetHolder;
+import org.openpnp.spi.Movable.MoveToOption;
 import org.openpnp.spi.base.AbstractNozzle;
 import org.openpnp.util.MovableUtils;
 import org.openpnp.util.SimpleGraph;
@@ -334,7 +335,7 @@ public boolean isCalibrated() {
     }
 
     @Override
-    public Location toHeadLocation(Location location, Location currentLocation) {
+    public Location toHeadLocation(Location location, Location currentLocation, LocationOption... options) {
         location = super.toHeadLocation(location, currentLocation);
         // Nozzle rotation handling
         if (limitRotation) {
@@ -348,6 +349,12 @@ public Location toHeadLocation(Location location, Location currentLocation) {
         }
         // Apply runout compensation.
         ReferenceNozzleTip calibrationNozzleTip = getCalibrationNozzleTip();
+        // check if totally raw move, in that case disable nozzle calibration
+        for (LocationOption option: options) {
+            if (option == LocationOption.SuppressCompensation) {
+                calibrationNozzleTip = null;
+            }
+        }
         if (calibrationNozzleTip != null && calibrationNozzleTip.getCalibration().isCalibrated(this)) {
             Location correctionOffset = calibrationNozzleTip.getCalibration().getCalibratedOffset(this, location.getRotation());
             location = location.subtract(correctionOffset);
@@ -359,10 +366,16 @@ public Location toHeadLocation(Location location, Location currentLocation) {
     }
 
     @Override
-    public Location fromHeadLocation(Location location, Location currentLocation) {
-        location = super.fromHeadLocation(location, currentLocation);
+    public Location toHeadMountableLocation(Location location, Location currentLocation, LocationOption... options) {
+        location = super.toHeadMountableLocation(location, currentLocation);
         // Unapply runout compensation.
         ReferenceNozzleTip calibrationNozzleTip = getCalibrationNozzleTip();
+        // Check SuppressCompensation, in that case disable nozzle calibration.
+        for (LocationOption option: options) {
+            if (option == LocationOption.SuppressCompensation) {
+                calibrationNozzleTip = null;
+            }
+        }
         if (calibrationNozzleTip != null && calibrationNozzleTip.getCalibration().isCalibrated(this)) {
             Location offset =
                     calibrationNozzleTip.getCalibration().getCalibratedOffset(this, location.getRotation());

src/main/java/org/openpnp/machine/reference/driver/GcodeDriver.java

@@ -427,7 +427,6 @@ public void moveTo(ReferenceHeadMountable hm, MappedAxes mappedAxes, Location lo
         for (MoveToOption currentOption: options) {
             switch (currentOption) {
                 case SpeedOverPrecision:        // for this move backslash is zero
-                case RawMove:                   // for this move all corrections are zero
                     enableBacklash = false;
                     break;
             }

src/main/java/org/openpnp/spi/Movable.java

@@ -6,12 +6,27 @@
 public interface Movable extends Locatable {
     /**
      * Contains all possible options for the moveTo command.
-     * RawMove: disable all internal corrections, just tell the driver to move to that position
      * SpeedOverPrecision: disable backslash compensation or anything else, that causes additional moves
      */
-    public enum MoveToOption { RawMove, SpeedOverPrecision }
+    public enum MoveToOption { SpeedOverPrecision }
+
+    /**
+     * Contains all possible options for getting approximative locations.
+     * KeepX, KeepY, KeepZ, KeepRotation: keep these raw coordinates the same. 
+     * SuppressCompensation: calculate a location that will result in no extra moves for compensation.
+     */
+    public enum LocationOption { KeepX, KeepY, KeepZ, KeepRotation, SuppressCompensation }
+
+    /**
+     * Get an approximative Location in order to avoid extra compensation moves. 
+     * 
+     * @param currentLocation The current location, usually obtained using Headmountable.getLocation()
+     * @param desiredLocation The desired location to approximate. 
+     * @param options Options for the approximation.
+     * @return
+     */
+    Location getApproximativeLocation(Location currentLocation, Location desiredLocation, LocationOption... options);
 
-
     /**
      * Move the object to the Location at the feedRate.
      * 

src/main/java/org/openpnp/spi/MovableMountable.java

@@ -2,6 +2,7 @@
 
 import org.openpnp.model.Location;
 import org.openpnp.model.MappedAxes;
+import org.openpnp.spi.Movable.LocationOption;
 
 /**
  * Anything that can be mounted to the machine and is Movable has an association 
@@ -21,7 +22,7 @@ public interface MovableMountable extends Movable {
 
     MappedAxes getMappedAxes();
 
-    Location toTransformed(Location location);
+    Location toTransformed(Location location, LocationOption... options);
 
-    Location toRaw(Location location);
+    Location toRaw(Location location, LocationOption... options);
 }

src/main/java/org/openpnp/spi/base/AbstractHeadMountable.java

@@ -8,6 +8,7 @@
 import org.openpnp.model.Location;
 import org.openpnp.model.MappedAxes;
 import org.openpnp.spi.Axis;
+import org.openpnp.spi.Movable.LocationOption;
 import org.openpnp.spi.Movable.MoveToOption;
 import org.openpnp.util.Matrix;
 import org.pmw.tinylog.Logger;
@@ -151,7 +152,7 @@ public MappedAxes getMappedAxes() {
                 AbstractAxis.getControllerAxis(axisRotation));
     }
 
-    public Location toHeadLocation(Location location, Location currentLocation) {
+    public Location toHeadLocation(Location location, Location currentLocation, LocationOption... options) {
         // Shortcut Double.NaN. Sending Double.NaN in a Location is an old API that should no
         // longer be used. It will be removed eventually:
         // https://github.com/openpnp/openpnp/issues/255
@@ -166,11 +167,11 @@ public Location toHeadLocation(Location location, Location currentLocation) {
         location = location.subtract(getHeadOffsets());
         return location;
     }
-    final public Location toHeadLocation(Location location) {
-        return toHeadLocation(location, getLocation());
+    final public Location toHeadLocation(Location location, LocationOption... options) {
+        return toHeadLocation(location, getLocation(), options);
     }
 
-    public Location fromHeadLocation(Location location, Location currentLocation) {
+    public Location toHeadMountableLocation(Location location, Location currentLocation, LocationOption... options) {
         if (currentLocation != null) {
             // Shortcut Double.NaN. Sending Double.NaN in a Location is an old API that should no
             // longer be used. It will be removed eventually:
@@ -187,22 +188,22 @@ public Location fromHeadLocation(Location location, Location currentLocation) {
         location = location.add(getHeadOffsets());
         return location;
     }
-    final public Location fromHeadLocation(Location location) {
-        return fromHeadLocation(location, null);
+    final public Location toHeadMountableLocation(Location location, LocationOption... options) {
+        return toHeadMountableLocation(location, null, options);
     }
 
     @Override
-    public Location toTransformed(Location location) {
+    public Location toTransformed(Location location, LocationOption... options) {
         // The forward transformation is easy, as it can be done axis by axis.
         double x = AbstractTransformedAxis.toTransformed(axisX, location);
         double y = AbstractTransformedAxis.toTransformed(axisY, location);
         double z = AbstractTransformedAxis.toTransformed(axisZ, location);
         double rotation = AbstractTransformedAxis.toTransformed(axisRotation, location);
-        return new Location (location.getUnits(), x, y, z, rotation);
+        return new Location(location.getUnits(), x, y, z, rotation);
     }
 
     @Override
-    public Location toRaw(Location location) {
+    public Location toRaw(Location location, LocationOption... options) {
         // The backward transformation is a bit more complicated, as it may have transformations 
         // based on multiple input axis. Currently we only allow linear transformations and only
         // at the last stage. Given this simplification we can solve the inverse by inverting the 
@@ -234,7 +235,43 @@ public Location getLocation() {
         MappedAxes mappedAxes = getMappedAxes();
         Location location = toTransformed(mappedAxes.getLocation(null));
         // From head to HeadMountable.
-        location = fromHeadLocation(location);
+        location = toHeadMountableLocation(location);
         return location;
     }
+
+    @Override
+    public Location getApproximativeLocation(Location currentLocation, Location desiredLocation, LocationOption... options) {
+        // Convert the desired location to a raw location, applying the approximation options, 
+        // which means some extra motion for compensation effects is suppressed.
+        Location desiredHeadLocation = toHeadLocation(desiredLocation, options);
+        Location currentHeadLocation = toHeadLocation(currentLocation);
+        Location desiredRawLocation = toRaw(desiredHeadLocation, options);
+        Location currentRawLocation = toRaw(currentHeadLocation);
+        Location aproximativeRawLocation = desiredRawLocation;
+        // Evaluate the Keep options. 
+        for (LocationOption option: options) {
+            switch (option) {
+                case KeepX:
+                    desiredRawLocation = desiredRawLocation.derive(currentRawLocation, true, false, false, false);
+                    break;
+                case KeepY:
+                    desiredRawLocation = desiredRawLocation.derive(currentRawLocation, false, true, false, false);
+                    break;
+                case KeepZ:
+                    desiredRawLocation = desiredRawLocation.derive(currentRawLocation, false, false, true, false);
+                    break;
+                case KeepRotation:
+                    desiredRawLocation = desiredRawLocation.derive(currentRawLocation, false, false, false, true);
+                    break;
+                default:
+                    break;
+            }
+        }    
+        // Now convert it back NOT applying any options, i.e. when a moveTo() is later made, 
+        // effectively reversing the option-less transformation, the result will be the same.
+        // The approximation will in effect be applied. 
+        Location headApproximativeLocation = toTransformed(desiredRawLocation);
+        Location approximativeLocation = toHeadMountableLocation(headApproximativeLocation);
+        return approximativeLocation;
+    }
 }