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| author | David Crocker <dcrocker@eschertech.com> | 2021-11-27 19:33:19 +0300 |
|---|---|---|
| committer | David Crocker <dcrocker@eschertech.com> | 2021-11-27 19:33:19 +0300 |
| commit | 8237fae61d665db03d07b4124693f6fc5d8916cd (patch) | |
| tree | af6bdb249e66ed258ae781be27fbc20877b23132 | |
| parent | 81bac91317d6dd6756d72897786ee58bc3e88bfc (diff) | |
Corrected inverse kinematics matrix in object model
| -rw-r--r-- | src/Movement/Kinematics/CoreKinematics.cpp | 2 |
1 files changed, 1 insertions, 1 deletions
diff --git a/src/Movement/Kinematics/CoreKinematics.cpp b/src/Movement/Kinematics/CoreKinematics.cpp index fe451930..2bbf806d 100644 --- a/src/Movement/Kinematics/CoreKinematics.cpp +++ b/src/Movement/Kinematics/CoreKinematics.cpp @@ -34,7 +34,7 @@ constexpr ObjectModelArrayDescriptor CoreKinematics::inverseMatrixElementArrayDe nullptr, // no lock needed [] (const ObjectModel *self, const ObjectExplorationContext&) noexcept -> size_t { return reprap.GetGCodes().GetVisibleAxes(); }, [] (const ObjectModel *self, ObjectExplorationContext& context) noexcept -> ExpressionValue - { return ExpressionValue(((const CoreKinematics*)self)->forwardMatrix(context.GetIndex(1), context.GetIndex(0)), 3); } + { return ExpressionValue(((const CoreKinematics*)self)->inverseMatrix(context.GetIndex(1), context.GetIndex(0)), 3); } }; constexpr ObjectModelArrayDescriptor CoreKinematics::forwardMatrixArrayDescriptor = |