int CKinematics::TransformActuatorstoCAD(double *Acts, double *x, double *y, double *z, double *a, double *b, double *c)
{
if (GeoTableValid)
{
// with GeoTable we must perform iterative inversion
return InvertTransformCADtoActuators(Acts, x, y, z, a, b, c);
}
else
{
// with no GeoTable use simple linear method
*x = Acts[0] / m_MotionParams.CountsPerInchX;
*y = Acts[1] / m_MotionParams.CountsPerInchY;
*z = Acts[2] / m_MotionParams.CountsPerInchZ;
*a = Acts[3] / m_MotionParams.CountsPerInchA;
*b = Acts[4] / m_MotionParams.CountsPerInchB;
*c = Acts[5] / m_MotionParams.CountsPerInchC;
return 0;
}
}
int CKinematics3Rod::TransformActuatorstoCAD(double *Acts, double *xr, double *yr, double *zr, double *ar, double *br, double *cr)
{
return InvertTransformCADtoActuators(Acts, xr, yr, zr, ar, br, cr);
}
