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/*
* CollisionAvoider.h
*
* Created on: 15 Aug 2022
* Author: David
*/
#ifndef SRC_GCODES_COLLISIONAVOIDER_H_
#define SRC_GCODES_COLLISIONAVOIDER_H_
#include <RepRapFirmware.h>
#if SUPPORT_ASYNC_MOVES
#include <Movement/RawMove.h>
class CollisionAvoider
{
public:
CollisionAvoider() noexcept;
bool IsValid() const noexcept;
int GetLowerAxis() const noexcept { return lowerAxis; }
int GetUpperAxis() const noexcept { return upperAxis; }
float GetMinSeparation()const noexcept { return minSeparation; }
// Reset the position accumulators
void ResetPositions(const float positions[]) noexcept;
// If the new move doesn't risk a collision, update the position accumulators and return true; else return false
bool UpdatePositions(const float axisPositions[]) noexcept;
// Set the parameters
void Set(int axisL, int axisH, float sep, const float positions[]) noexcept;
private:
float minSeparation;
float lowerAxisMax;
float upperAxisMin;
int lowerAxis;
int upperAxis;
};
#endif
#endif /* SRC_GCODES_COLLISIONAVOIDER_H_ */
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