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trapq: Add code to calculate definitive integral

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Support calculating the definitive integral of a cartesian axis
position over a time range of the movement queue.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor
2019-11-01 22:53:00 -04:00
parent d00023f3bb
commit a28b29993a
2 changed files with 51 additions and 1 deletions
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8
klippy/chelper/trapq.h
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@@ -4,7 +4,12 @@
#include "list.h" // list_node
struct coord {
double x, y, z;
union {
struct {
double x, y, z;
};
double axis[3];
};
};
struct move {
@@ -27,6 +32,7 @@ void trapq_append(struct trapq *tq, double print_time
, double start_v, double cruise_v, double accel);
double move_get_distance(struct move *m, double move_time);
struct coord move_get_coord(struct move *m, double move_time);
double trapq_integrate(struct move *m, int axis, double start, double end);
struct trapq *trapq_alloc(void);
void trapq_free(struct trapq *tq);
void trapq_check_sentinels(struct trapq *tq);