OMEGA_H_INLINE Matrix<3, 3> matrix_3x3(
Real a, Real b, Real c, Real d, Real e, Real f, Real g, Real h, Real i) {
Matrix<3, 3> o;
o[0] = vector_3(a, d, g);
o[1] = vector_3(b, e, h);
o[2] = vector_3(c, f, i);
return o;
}
void apply_rotation_xyz(matrix_3x3 matrix, float& x, float& y, float& z) {
vector_3 vector = vector_3(x, y, z);
vector.apply_rotation(matrix);
x = vector.x;
y = vector.y;
z = vector.z;
}
matrix_3x3 matrix_3x3::create_look_at(vector_3 target)
{
vector_3 z_row = target.get_normal();
vector_3 x_row = vector_3(1, 0, -target.x/target.z).get_normal();
vector_3 y_row = vector_3(0, 1, -target.y/target.z).get_normal();
// x_row.debug("x_row");
// y_row.debug("y_row");
// z_row.debug("z_row");
// create the matrix already correctly transposed
matrix_3x3 rot = matrix_3x3::create_from_rows(x_row, y_row, z_row);
// rot.debug("rot");
return rot;
}
vector_3 plan_get_position() {
vector_3 position = vector_3(st_get_position_mm(X_AXIS), st_get_position_mm(Y_AXIS), st_get_position_mm(Z_AXIS));
//position.debug("in plan_get position");
//plan_bed_level_matrix.debug("in plan_get_position");
matrix_3x3 inverse = matrix_3x3::transpose(plan_bed_level_matrix);
//inverse.debug("in plan_get inverse");
position.apply_rotation(inverse);
//position.debug("after rotation");
return position;
}
/**
* Get the XYZ position of the steppers as a vector_3.
*
* On CORE machines XYZ is derived from ABC.
*/
vector_3 Planner::adjusted_position() {
vector_3 pos = vector_3(stepper.get_axis_position_mm(X_AXIS), stepper.get_axis_position_mm(Y_AXIS), stepper.get_axis_position_mm(Z_AXIS));
//pos.debug("in Planner::adjusted_position");
//bed_level_matrix.debug("in Planner::adjusted_position");
matrix_3x3 inverse = matrix_3x3::transpose(bed_level_matrix);
//inverse.debug("in Planner::inverse");
pos.apply_rotation(inverse);
//pos.debug("after rotation");
return pos;
}
vector_3 vector_3::get_normal() {
vector_3 normalized = vector_3(x, y, z);
normalized.normalize();
return normalized;
}
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)); }
vector_3 vector_3::cross(vector_3 left, vector_3 right) {
return vector_3(left.y * right.z - left.z * right.y,
left.z * right.x - left.x * right.z,
left.x * right.y - left.y * right.x);
}
OMEGA_H_INLINE Vector<3> cross(Vector<3> a, Vector<3> b) {
return vector_3(a[1] * b[2] - a[2] * b[1], a[2] * b[0] - a[0] * b[2],
a[0] * b[1] - a[1] * b[0]);
}
int main()
{
//**************//
//** jVector2 **//
//**************//
// Create an "empty" jVector2: (0,0)
jVector2 vector1;
// Create "partial" jVector2: (5,0)
jVector2 vector2(5.0f);
// Create "full" jVector2: (1,2)
jVector2 vector3(1.0f, 2.0f);
// print the vectors out
std::cout << vector1.toString() << std::endl;
std::cout << vector2.toString() << std::endl;
std::cout << vector3.toString() << std::endl;
// add two vectors together
jVector2 sum23 = vector2 + vector3;
std::cout << sum23.toString() << std::endl;
// subtract two vectors
jVector2 diff = jVector2(6.0f, 4.0f) - jVector2(10.0f, 2.0f);
std::cout << diff.toString() << std::endl;
// multiply vector by scalar
std::cout << (vector3 * 1.25f).toString() << std::endl;
// divide vector by scalar
std::cout << (sum23 / 10.0f).toString() << std::endl;
// test equality
std::cout << (sum23 == diff) << std::endl;
// test inequality
std::cout << (diff != vector1) << std::endl;
// get magnitude
std::cout << vector3.magnitude_sqr() << std::endl;
// normalize vector
std::cout << (vector3.normalized()).toString() << std::endl;
////////////////////////////////////////////////////
// jVector3
jVector3 vector_1;
jVector3 vector_2(5.0f);
jVector3 vector_3(1.0f, 2.0f, 3.0f);
std::cout << vector_1.toString() << std::endl;
std::cout << vector_2.toString() << std::endl;
std::cout << vector_3.toString() << std::endl;
// This will be put into the jDebug namespace/class.
/* #ifdef linux
#else
// And this is why programming for Windows sucks...
HANDLE h_stdout = GetStdHandle( STD_OUTPUT_HANDLE );
CONSOLE_SCREEN_BUFFER_INFO csbi;
GetConsoleScreenBufferInfo( h_stdout, &csbi );
// Foreground B G R I
// Colors 0 0 1 1
// Background B G R I
// Colors 0 0 0 1
// All together, 00110001 is like this:
SetConsoleTextAttribute( h_stdout, 0x31 );
std::cout << vector_1 << std::endl;
SetConsoleTextAttribute( h_stdout, csbi.wAttributes );
#endif */
jDebug::LogError("An error has occurred!");
jDebug::LogWarning("A warning has occurred!");
jDebug::Log("A notification has appeared.");
jDebug::AddLogger("main", "logs/main.log");
jDebug::LogError("main", "A test error to be found in main.log");
jDebug::Log("main", "A test notification to be found in main.log");
// Don't forget your cleanup!
jDebug::DestructLoggers();
return 0;
}
