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Prettify Bed Level Correction Matrix

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- Put + in front of positive values in the output
This commit is contained in:
Scott Lahteine 2015-03-25 22:13:59 -07:00
parent f5f4c2b366
commit 32331faee4
1 changed files with 30 additions and 54 deletions
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84
Marlin/vector_3.cpp
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@ -26,57 +26,40 @@ vector_3::vector_3() : x(0), y(0), z(0) { }
vector_3::vector_3(float x_, float y_, float z_) : x(x_), y(y_), z(z_) { } vector_3::vector_3(float x_, float y_, float z_) : x(x_), y(y_), z(z_) { }
vector_3 vector_3::cross(vector_3 left, vector_3 right) vector_3 vector_3::cross(vector_3 left, vector_3 right) {
{
return vector_3(left.y * right.z - left.z * right.y, return vector_3(left.y * right.z - left.z * right.y,
left.z * right.x - left.x * right.z, left.z * right.x - left.x * right.z,
left.x * right.y - left.y * right.x); left.x * right.y - left.y * right.x);
} }
vector_3 vector_3::operator+(vector_3 v) vector_3 vector_3::operator+(vector_3 v) { return vector_3((x + v.x), (y + v.y), (z + v.z)); }
{ vector_3 vector_3::operator-(vector_3 v) { return vector_3((x - v.x), (y - v.y), (z - v.z)); }
return vector_3((x + v.x), (y + v.y), (z + v.z));
}
vector_3 vector_3::operator-(vector_3 v) vector_3 vector_3::get_normal() {
{
return vector_3((x - v.x), (y - v.y), (z - v.z));
}
vector_3 vector_3::get_normal()
{
vector_3 normalized = vector_3(x, y, z); vector_3 normalized = vector_3(x, y, z);
normalized.normalize(); normalized.normalize();
return normalized; return normalized;
} }
float vector_3::get_length() float vector_3::get_length() { return sqrt((x * x) + (y * y) + (z * z)); }
{
float length = sqrt((x * x) + (y * y) + (z * z)); void vector_3::normalize() {
return length;
}
void vector_3::normalize()
{
float length = get_length(); float length = get_length();
x /= length; x /= length;
y /= length; y /= length;
z /= length; z /= length;
} }
void vector_3::apply_rotation(matrix_3x3 matrix) void vector_3::apply_rotation(matrix_3x3 matrix) {
{
float resultX = x * matrix.matrix[3*0+0] + y * matrix.matrix[3*1+0] + z * matrix.matrix[3*2+0]; float resultX = x * matrix.matrix[3*0+0] + y * matrix.matrix[3*1+0] + z * matrix.matrix[3*2+0];
float resultY = x * matrix.matrix[3*0+1] + y * matrix.matrix[3*1+1] + z * matrix.matrix[3*2+1]; float resultY = x * matrix.matrix[3*0+1] + y * matrix.matrix[3*1+1] + z * matrix.matrix[3*2+1];
float resultZ = x * matrix.matrix[3*0+2] + y * matrix.matrix[3*1+2] + z * matrix.matrix[3*2+2]; float resultZ = x * matrix.matrix[3*0+2] + y * matrix.matrix[3*1+2] + z * matrix.matrix[3*2+2];
x = resultX; x = resultX;
y = resultY; y = resultY;
z = resultZ; z = resultZ;
} }
void vector_3::debug(char* title) void vector_3::debug(char* title) {
{
SERIAL_PROTOCOL(title); SERIAL_PROTOCOL(title);
SERIAL_PROTOCOLPGM(" x: "); SERIAL_PROTOCOLPGM(" x: ");
SERIAL_PROTOCOL_F(x, 6); SERIAL_PROTOCOL_F(x, 6);
@ -87,8 +70,7 @@ void vector_3::debug(char* title)
SERIAL_EOL; SERIAL_EOL;
} }
void apply_rotation_xyz(matrix_3x3 matrix, float &x, float& y, float& z) void apply_rotation_xyz(matrix_3x3 matrix, float &x, float& y, float& z) {
{
vector_3 vector = vector_3(x, y, z); vector_3 vector = vector_3(x, y, z);
vector.apply_rotation(matrix); vector.apply_rotation(matrix);
x = vector.x; x = vector.x;
@ -96,48 +78,41 @@ void apply_rotation_xyz(matrix_3x3 matrix, float &x, float& y, float& z)
z = vector.z; z = vector.z;
} }
matrix_3x3 matrix_3x3::create_from_rows(vector_3 row_0, vector_3 row_1, vector_3 row_2) matrix_3x3 matrix_3x3::create_from_rows(vector_3 row_0, vector_3 row_1, vector_3 row_2) {
{ //row_0.debug("row_0");
//row_0.debug("row_0"); //row_1.debug("row_1");
//row_1.debug("row_1"); //row_2.debug("row_2");
//row_2.debug("row_2");
matrix_3x3 new_matrix; matrix_3x3 new_matrix;
new_matrix.matrix[0] = row_0.x; new_matrix.matrix[1] = row_0.y; new_matrix.matrix[2] = row_0.z; new_matrix.matrix[0] = row_0.x; new_matrix.matrix[1] = row_0.y; new_matrix.matrix[2] = row_0.z;
new_matrix.matrix[3] = row_1.x; new_matrix.matrix[4] = row_1.y; new_matrix.matrix[5] = row_1.z; new_matrix.matrix[3] = row_1.x; new_matrix.matrix[4] = row_1.y; new_matrix.matrix[5] = row_1.z;
new_matrix.matrix[6] = row_2.x; new_matrix.matrix[7] = row_2.y; new_matrix.matrix[8] = row_2.z; new_matrix.matrix[6] = row_2.x; new_matrix.matrix[7] = row_2.y; new_matrix.matrix[8] = row_2.z;
//new_matrix.debug("new_matrix"); //new_matrix.debug("new_matrix");
return new_matrix; return new_matrix;
} }
void matrix_3x3::set_to_identity() void matrix_3x3::set_to_identity() {
{
matrix[0] = 1; matrix[1] = 0; matrix[2] = 0; matrix[0] = 1; matrix[1] = 0; matrix[2] = 0;
matrix[3] = 0; matrix[4] = 1; matrix[5] = 0; matrix[3] = 0; matrix[4] = 1; matrix[5] = 0;
matrix[6] = 0; matrix[7] = 0; matrix[8] = 1; matrix[6] = 0; matrix[7] = 0; matrix[8] = 1;
} }
matrix_3x3 matrix_3x3::create_look_at(vector_3 target) matrix_3x3 matrix_3x3::create_look_at(vector_3 target) {
{ vector_3 z_row = target.get_normal();
vector_3 z_row = target.get_normal(); vector_3 x_row = vector_3(1, 0, -target.x/target.z).get_normal();
vector_3 x_row = vector_3(1, 0, -target.x/target.z).get_normal(); vector_3 y_row = vector_3::cross(z_row, x_row).get_normal();
vector_3 y_row = vector_3::cross(z_row, x_row).get_normal();
// x_row.debug("x_row"); // x_row.debug("x_row");
// y_row.debug("y_row"); // y_row.debug("y_row");
// z_row.debug("z_row"); // z_row.debug("z_row");
// create the matrix already correctly transposed
// create the matrix already correctly transposed matrix_3x3 rot = matrix_3x3::create_from_rows(x_row, y_row, z_row);
matrix_3x3 rot = matrix_3x3::create_from_rows(x_row, y_row, z_row);
// rot.debug("rot"); // rot.debug("rot");
return rot; return rot;
} }
matrix_3x3 matrix_3x3::transpose(matrix_3x3 original) {
matrix_3x3 matrix_3x3::transpose(matrix_3x3 original)
{
matrix_3x3 new_matrix; matrix_3x3 new_matrix;
new_matrix.matrix[0] = original.matrix[0]; new_matrix.matrix[1] = original.matrix[3]; new_matrix.matrix[2] = original.matrix[6]; new_matrix.matrix[0] = original.matrix[0]; new_matrix.matrix[1] = original.matrix[3]; new_matrix.matrix[2] = original.matrix[6];
new_matrix.matrix[3] = original.matrix[1]; new_matrix.matrix[4] = original.matrix[4]; new_matrix.matrix[5] = original.matrix[7]; new_matrix.matrix[3] = original.matrix[1]; new_matrix.matrix[4] = original.matrix[4]; new_matrix.matrix[5] = original.matrix[7];
@ -150,6 +125,7 @@ void matrix_3x3::debug(char* title) {
int count = 0; int count = 0;
for(int i=0; i<3; i++) { for(int i=0; i<3; i++) {
for(int j=0; j<3; j++) { for(int j=0; j<3; j++) {
if (matrix[count] >= 0.0) SERIAL_PROTOCOLPGM("+");
SERIAL_PROTOCOL_F(matrix[count], 6); SERIAL_PROTOCOL_F(matrix[count], 6);
SERIAL_PROTOCOLPGM(" "); SERIAL_PROTOCOLPGM(" ");
count++; count++;
@ -158,5 +134,5 @@ void matrix_3x3::debug(char* title) {
} }
} }
#endif // #ifdef ENABLE_AUTO_BED_LEVELING #endif // ENABLE_AUTO_BED_LEVELING