1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
|
/*
* Grid.h
*
* Created on: 18 Nov 2016
* Author: David
*/
#ifndef SRC_MOVEMENT_GRID_H_
#define SRC_MOVEMENT_GRID_H_
#include <cstdint>
#include "ecv.h"
#include "Libraries/General/StringRef.h"
// This class defines the bed probing grid
class GridDefinition
{
public:
GridDefinition();
GridDefinition(const float xRange[2], const float yRange[2], float pRadius, float pSpacing);
void SetStorage(const float *heightStorage, const uint32_t *heightSetStorage);
uint32_t NumXpoints() const { return numX; }
uint32_t NumYpoints() const { return numY; }
uint32_t NumPoints() const { return numX * numY; }
float GetXCoordinate(unsigned int xIndex) const;
float GetYCoordinate(unsigned int yIndex) const;
bool IsInRadius(float x, float y) const;
bool IsValid() const { return isValid; }
void PrintParameters(StringRef& r) const;
void PrintError(StringRef& r) const
pre(!IsValid());
float ComputeHeightError(float x, float y) const // Compute the height error at the specified point
pre(IsValid(); gridHeights != nullptr; gridHeights.upb >= NumPoints());
private:
static constexpr float MinSpacing = 0.1; // The minimum point spacing allowed
static constexpr float MinRange = 1.0; // The minimum X and Y range allowed
// Primary parameters
float xMin, xMax, yMin, yMax; // The edges of the grid for G29 probing
float radius; // The grid radius to probe
float spacing; // The spacing of the grid probe points
const float *gridHeights; // The map of grid heights
const uint32_t *gridHeightSet; // Bitmap of which heights are set
// Derived parameters
uint32_t numX, numY;
float recipSpacing;
bool isValid;
uint32_t GetMapIndex(uint32_t xIndex, uint32_t yIndex) const { return (yIndex * numX) + xIndex; }
bool IsHeightSet(uint32_t index) const { return (gridHeightSet[index/32] & (1 << (index & 31))) != 0; }
float GetHeightError(uint32_t xIndex, uint32_t yIndex) const;
float InterpolateX(uint32_t xIndex, uint32_t yIndex, float xFrac) const;
float InterpolateY(uint32_t xIndex, uint32_t yIndex, float yFrac) const;
float InterpolateXY(uint32_t xIndex, uint32_t yIndex, float xFrac, float yFrac) const;
float Interpolate2(uint32_t index1, uint32_t index2, float frac) const;
float DiagonalInterpolate(uint32_t index1, uint32_t index2, float xFrac, float yFrac) const;
float Interpolate3(uint32_t cornerIndex, uint32_t indexX, uint32_t indexY, float xFrac, float yFrac) const;
float Interpolate4(uint32_t index1, uint32_t index2, uint32_t index3, uint32_t index4, float xFrac, float yFrac) const;
};
#endif /* SRC_MOVEMENT_GRID_H_ */
|
