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Tweaks to cubic_b_spline code style

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Scott Lahteine 2017-11-01 12:04:18 -05:00
parent 4df024d7b9
commit dac1f6fe74
1 changed files with 16 additions and 16 deletions
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32
Marlin/src/module/planner_bezier.cpp
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@ -111,10 +111,10 @@ inline static float dist1(float x1, float y1, float x2, float y2) { return FABS(
*/ */
void cubic_b_spline(const float position[NUM_AXIS], const float target[NUM_AXIS], const float offset[4], float fr_mm_s, uint8_t extruder) { void cubic_b_spline(const float position[NUM_AXIS], const float target[NUM_AXIS], const float offset[4], float fr_mm_s, uint8_t extruder) {
// Absolute first and second control points are recovered. // Absolute first and second control points are recovered.
float first0 = position[X_AXIS] + offset[0]; const float first0 = position[X_AXIS] + offset[0],
float first1 = position[Y_AXIS] + offset[1]; first1 = position[Y_AXIS] + offset[1],
float second0 = target[X_AXIS] + offset[2]; second0 = target[X_AXIS] + offset[2],
float second1 = target[Y_AXIS] + offset[3]; second1 = target[Y_AXIS] + offset[3];
float t = 0.0; float t = 0.0;
float bez_target[4]; float bez_target[4];
@ -138,15 +138,15 @@ void cubic_b_spline(const float position[NUM_AXIS], const float target[NUM_AXIS]
bool did_reduce = false; bool did_reduce = false;
float new_t = t + step; float new_t = t + step;
NOMORE(new_t, 1.0); NOMORE(new_t, 1.0);
float new_pos0 = eval_bezier(position[X_AXIS], first0, second0, target[X_AXIS], new_t); float new_pos0 = eval_bezier(position[X_AXIS], first0, second0, target[X_AXIS], new_t),
float new_pos1 = eval_bezier(position[Y_AXIS], first1, second1, target[Y_AXIS], new_t); new_pos1 = eval_bezier(position[Y_AXIS], first1, second1, target[Y_AXIS], new_t);
for (;;) { for (;;) {
if (new_t - t < (MIN_STEP)) break; if (new_t - t < (MIN_STEP)) break;
float candidate_t = 0.5 * (t + new_t); const float candidate_t = 0.5 * (t + new_t),
float candidate_pos0 = eval_bezier(position[X_AXIS], first0, second0, target[X_AXIS], candidate_t); candidate_pos0 = eval_bezier(position[X_AXIS], first0, second0, target[X_AXIS], candidate_t),
float candidate_pos1 = eval_bezier(position[Y_AXIS], first1, second1, target[Y_AXIS], candidate_t); candidate_pos1 = eval_bezier(position[Y_AXIS], first1, second1, target[Y_AXIS], candidate_t),
float interp_pos0 = 0.5 * (bez_target[X_AXIS] + new_pos0); interp_pos0 = 0.5 * (bez_target[X_AXIS] + new_pos0),
float interp_pos1 = 0.5 * (bez_target[Y_AXIS] + new_pos1); interp_pos1 = 0.5 * (bez_target[Y_AXIS] + new_pos1);
if (dist1(candidate_pos0, candidate_pos1, interp_pos0, interp_pos1) <= (SIGMA)) break; if (dist1(candidate_pos0, candidate_pos1, interp_pos0, interp_pos1) <= (SIGMA)) break;
new_t = candidate_t; new_t = candidate_t;
new_pos0 = candidate_pos0; new_pos0 = candidate_pos0;
@ -157,12 +157,12 @@ void cubic_b_spline(const float position[NUM_AXIS], const float target[NUM_AXIS]
// If we did not reduce the step, maybe we should enlarge it. // If we did not reduce the step, maybe we should enlarge it.
if (!did_reduce) for (;;) { if (!did_reduce) for (;;) {
if (new_t - t > MAX_STEP) break; if (new_t - t > MAX_STEP) break;
float candidate_t = t + 2.0 * (new_t - t); const float candidate_t = t + 2.0 * (new_t - t);
if (candidate_t >= 1.0) break; if (candidate_t >= 1.0) break;
float candidate_pos0 = eval_bezier(position[X_AXIS], first0, second0, target[X_AXIS], candidate_t); const float candidate_pos0 = eval_bezier(position[X_AXIS], first0, second0, target[X_AXIS], candidate_t),
float candidate_pos1 = eval_bezier(position[Y_AXIS], first1, second1, target[Y_AXIS], candidate_t); candidate_pos1 = eval_bezier(position[Y_AXIS], first1, second1, target[Y_AXIS], candidate_t),
float interp_pos0 = 0.5 * (bez_target[X_AXIS] + candidate_pos0); interp_pos0 = 0.5 * (bez_target[X_AXIS] + candidate_pos0),
float interp_pos1 = 0.5 * (bez_target[Y_AXIS] + candidate_pos1); interp_pos1 = 0.5 * (bez_target[Y_AXIS] + candidate_pos1);
if (dist1(new_pos0, new_pos1, interp_pos0, interp_pos1) > (SIGMA)) break; if (dist1(new_pos0, new_pos1, interp_pos0, interp_pos1) > (SIGMA)) break;
new_t = candidate_t; new_t = candidate_t;
new_pos0 = candidate_pos0; new_pos0 = candidate_pos0;