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#ifndef TRAPQ_H
#define TRAPQ_H
#include "list.h" // list_node
struct coord {
double x, y, z;
};
struct move_accel {
double c1, c2;
};
struct move {
double print_time, move_t;
double accel_t, cruise_t;
double cruise_start_d, decel_start_d;
double cruise_v;
struct move_accel accel, decel;
struct coord start_pos, axes_r;
struct list_node node;
};
struct trapq {
struct list_head moves;
};
struct move *move_alloc(void);
void trapq_append(struct trapq *tq, double print_time
, double accel_t, double cruise_t, double decel_t
, double start_pos_x, double start_pos_y, double start_pos_z
, double axes_d_x, double axes_d_y, double axes_d_z
, double start_v, double cruise_v, double accel);
double move_get_distance(struct move *m, double move_time);
struct coord move_get_coord(struct move *m, double move_time);
struct trapq *trapq_alloc(void);
void trapq_free(struct trapq *tq);
void trapq_add_move(struct trapq *tq, struct move *m);
void trapq_free_moves(struct trapq *tq, double print_time);
#endif // trapq.h
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