54 lines
1.5 KiB
C
54 lines
1.5 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, history;
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};
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struct pull_move {
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double print_time, move_t;
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double start_v, accel;
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double start_x, start_y, start_z;
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double x_r, y_r, z_r;
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};
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struct move *move_alloc(void);
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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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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_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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void trapq_finalize_moves(struct trapq *tq, double print_time
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, double clear_history_time);
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void trapq_set_position(struct trapq *tq, double print_time
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, double pos_x, double pos_y, double pos_z);
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int trapq_extract_old(struct trapq *tq, struct pull_move *p, int max
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, double start_time, double end_time);
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#endif // trapq.h
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