44 lines
1.2 KiB
C
44 lines
1.2 KiB
C
#ifndef TRAPQ_H
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#define TRAPQ_H
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#include "list.h" // list_node
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struct coord {
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union {
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struct {
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double x, y, z;
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};
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double axis[3];
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};
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};
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struct move {
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double print_time, move_t;
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double start_v, half_accel;
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struct coord start_pos, axes_r;
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struct list_node node;
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};
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struct trapq {
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struct list_head moves;
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};
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struct move *move_alloc(void);
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void trapq_append(struct trapq *tq, double print_time
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, double accel_t, double cruise_t, double decel_t
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, double start_pos_x, double start_pos_y, double start_pos_z
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, double axes_r_x, double axes_r_y, double axes_r_z
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, double start_v, double cruise_v, double accel);
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double move_get_distance(struct move *m, double move_time);
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struct coord move_get_coord(struct move *m, double move_time);
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double trapq_integrate(struct move *m, int axis, double start, double end);
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struct move *trapq_find_move(struct move *m, double *ptime);
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struct trapq *trapq_alloc(void);
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void trapq_free(struct trapq *tq);
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void trapq_check_sentinels(struct trapq *tq);
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void trapq_add_move(struct trapq *tq, struct move *m);
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void trapq_free_moves(struct trapq *tq, double print_time);
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#endif // trapq.h
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