[Emc-commit] TRUNK emc2/src/emc/task emccanon.cc,1.134,1.135

[Jeff E. <cv...@cv...>]

Modified file emc2/src/emc/task/emccanon.cc

Full file:
<http://cvs.linuxcnc.org/cvs/emc2/src/emc/task/emccanon.cc?rev=1.135>

Difference:
<http://cvs.linuxcnc.org/cvs/emc2/src/emc/task/emccanon.cc.diff?r1=1.134;r2=1.135>

Branch: TRUNK

Log:
revision 1.135
date: 2008/05/30 12:42:45;  author: jepler;  state: Exp;  lines: +160 -223
use new functions to apply offsets to program coordinates - no functional change intended

--- emccanon.cc	2008/05/28 15:05:29	1.134
+++ emccanon.cc	2008/05/30 12:42:45	1.135
@@ -213,6 +213,7 @@
     return w - programOrigin.w - wrapOrigin.w - currentWToolOffset;
 }
 
+#if 0 // not yet used; uncomment if you want it
 static CANON_POSITION offset_pos(const CANON_POSITION &pos) {
     CANON_POSITION res;
     res.x = offset_x(pos.x);
@@ -226,7 +227,21 @@
     res.w = offset_w(pos.w);
     return res;
 }
+#endif
+
+static void offset_pos(double &x, double &y, double &z, double &a, double &b, double &c, double &u, double &v, double &w) {
+    x = offset_x(x);
+    y = offset_y(y);
+    z = offset_z(z);
+    a = offset_a(a);
+    b = offset_b(b);
+    c = offset_c(c);
+    u = offset_u(u);
+    v = offset_v(v);
+    w = offset_w(w);
+}
 
+#if 0 // not yet used; uncomment if you want it
 static CANON_POSITION unoffset_pos(const CANON_POSITION &pos) {
     CANON_POSITION res;
     res.x = unoffset_x(res.x);
@@ -240,6 +255,65 @@
     res.w = unoffset_w(res.w);
     return res;
 }
+#endif
+
+#if 0 // not yet used; uncomment if you want it
+static void unoffset_pos(double &x, double &y, double &z, double &a, double &b, double &c, double &u, double &v, double &w) {
+    x = unoffset_x(x);
+    y = unoffset_y(y);
+    z = unoffset_z(z);
+    a = unoffset_a(a);
+    b = unoffset_b(b);
+    c = unoffset_c(c);
+    u = unoffset_u(u);
+    v = unoffset_v(v);
+    w = unoffset_w(w);
+}
+#endif
+
+// for c in "xyzabcuvw": print "    %s = offset_%s(%s)" % (c,c,c)
+
+static void from_prog(double &x, double &y, double &z, double &a, double &b, double &c, double &u, double &v, double &w) {
+    x = FROM_PROG_LEN(x);
+    y = FROM_PROG_LEN(y);
+    z = FROM_PROG_LEN(z);
+    a = FROM_PROG_ANG(a);
+    b = FROM_PROG_ANG(b);
+    c = FROM_PROG_ANG(c);
+    u = FROM_PROG_LEN(u);
+    v = FROM_PROG_LEN(v);
+    w = FROM_PROG_LEN(w);
+}
+
+#if 0 // not yet used; uncomment if you want it
+static void to_ext(double &x, double &y, double &z, double &a, double &b, double &c, double &u, double &v, double &w) {
+    x = TO_EXT_LEN(x);
+    y = TO_EXT_LEN(y);
+    z = TO_EXT_LEN(z);
+    a = TO_EXT_ANG(a);
+    b = TO_EXT_ANG(b);
+    c = TO_EXT_ANG(c);
+    u = TO_EXT_LEN(u);
+    v = TO_EXT_LEN(v);
+    w = TO_EXT_LEN(w);
+}
+#endif
+
+static EmcPose to_ext_pose(double x, double y, double z, double a, double b, double c, double u, double v, double w) {
+    EmcPose result;
+    result.tran.x = TO_EXT_LEN(x);
+    result.tran.y = TO_EXT_LEN(y);
+    result.tran.z = TO_EXT_LEN(z);
+    result.a = TO_EXT_ANG(a);
+    result.b = TO_EXT_ANG(b);
+    result.c = TO_EXT_ANG(c);
+    result.u = TO_EXT_LEN(u);
+    result.v = TO_EXT_LEN(v);
+    result.w = TO_EXT_LEN(w);
+    return result;
+}
+
+
 
 /*