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| author | Dmitry Butyugin <dmbutyugin@google.com> | 2025-05-07 00:06:36 +0200 |
|---|---|---|
| committer | GitHub <noreply@github.com> | 2025-05-06 18:06:36 -0400 |
| commit | cc6736c3e35cb6f6e660d973be67ab4cef78ffb9 (patch) | |
| tree | ac402e87f007dec73e7dd551088600252cb1437f /klippy/mathutil.py | |
| parent | 1cc63980747b80516f8fc4f022eedf18ae739086 (diff) | |
| download | kutter-cc6736c3e35cb6f6e660d973be67ab4cef78ffb9.tar.gz kutter-cc6736c3e35cb6f6e660d973be67ab4cef78ffb9.tar.xz kutter-cc6736c3e35cb6f6e660d973be67ab4cef78ffb9.zip | |
kinematics: Generic Cartesian kinematics implementation (#6815)
* tests: Added a regression test for generic_cartesian kinematics
* kinematics: An intial implementation of generic_cartesian kinematics
* generic_cartesian: Refactored kinematics configuration API
* generic_cartesian: Use stepper instead of kinematic_stepper in configs
* generic_cartesian: Added SET_STEPPER_KINEMATICS command
* generic_cartesian: Fixed parsing of section names
* docs: Generic Caretsian kinematics documentation and config samples
* generic_cartesian: Implemented multi-mcu homing validation
* generic_cartesian: Fixed typos in docs, minor fixes
* generic_cartesian: Renamed `kinematics` option to `carriages`
* generic_cartesian: Moved kinematic_stepper.py file
* idex_modes: Internal refactoring of handling dual carriages
* stepper: Refactored the code to not store a reference to config object
* config: Updated example-generic-cartesian config
* generic_cartesian: Restricted SET_STEPPER_CARRIAGES and exported status
* idex_modes: Fixed handling stepper kinematics with input shaper enabled
* config: Updated configs and tests for SET_DUAL_CARRIAGE new params
* generic_cartesian: Avoid inheritance in the added classes
Signed-off-by: Dmitry Butyugin <dmbutyugin@google.com>
Diffstat (limited to 'klippy/mathutil.py')
| -rw-r--r-- | klippy/mathutil.py | 15 |
1 files changed, 15 insertions, 0 deletions
diff --git a/klippy/mathutil.py b/klippy/mathutil.py index a6ab50d2..c741d915 100644 --- a/klippy/mathutil.py +++ b/klippy/mathutil.py @@ -135,3 +135,18 @@ def matrix_sub(m1, m2): def matrix_mul(m1, s): return [m1[0]*s, m1[1]*s, m1[2]*s] + +###################################################################### +# Matrix helper functions for 3x3 matrices +###################################################################### + +def matrix_det(a): + x0, x1, x2 = a + return matrix_dot(x0, matrix_cross(x1, x2)) + +def matrix_inv(a): + x0, x1, x2 = a + inv_det = 1. / matrix_det(a) + return [matrix_mul(matrix_cross(x1, x2), inv_det), + matrix_mul(matrix_cross(x2, x0), inv_det), + matrix_mul(matrix_cross(x0, x1), inv_det)] |