Here is a crappy video showing the difference (first run is current TP - second run is Roberts hard work)
https://www.youtube.com/watch?v=oUajH5BCOUQ&feature=youtu.be spiral is made up of short line segments. The current tp has to be able to stop by the end of the next segment so it peaks at about 110ipm. The new TP can look 40 segments ahead. (that will be a configurable in the future..) and peaks at about 410ipm. Current status as I understand it. Read ahead works if segment transitions are -Line-Line -Tangent line-arc, arc-line -Tangent arc-arc Darn impressive. Great work Robert! sam On 12/16/2013 12:43 PM, Kent A. Reed wrote: > On 12/16/2013 01:02 PM, John Alexander Stewart wrote: >> It's been a while since I wrote SLERPing code, but the project I wrote it >> for used Quaternions, which I don't think LinuxCNC uses?? Quaternions >> certainly made a lot of the internal maths easier. (code was in the >> "FreeWRL" VRML/X3D browser) >> >> *Does* LinuxCNC use Quaternions? > Well, that depends on your meaning of the word "use". If you look at the > libnml/posemath/ routines you'll see a lot of internal usage of > quarternions for the reason you name but most calls to the routines from > the rest of LinuxCNC consist of customary and usual representations. > What representations? Well, consider this snippet from posemath.h > > ----- > /* translation types */ > struct PM_CARTESIAN; /* Cart */ > struct PM_SPHERICAL; /* Sph */ > struct PM_CYLINDRICAL; /* Cyl */ > > /* rotation types */ > struct PM_ROTATION_VECTOR; /* Rot */ > struct PM_ROTATION_MATRIX; /* Mat */ > struct PM_QUATERNION; /* Quat */ > struct PM_EULER_ZYZ; /* Zyz */ > struct PM_EULER_ZYX; /* Zyx */ > struct PM_RPY; /* Rpy */ > > /* pose types */ > struct PM_POSE; /* Pose */ > struct PM_HOMOGENEOUS; /* Hom */ > ----- > > You can browse the source code itself but it's faster to read the nearly > 15-year old document > http://www.isd.mel.nist.gov/projects/rcslib/posemath_examples.html > > > Regards, > Kent > ------------------------------------------------------------------------------ > Rapidly troubleshoot problems before they affect your business. Most IT > organizations don't have a clear picture of how application performance > affects their revenue. With AppDynamics, you get 100% visibility into your > Java,.NET, & PHP application. Start your 15-day FREE TRIAL of AppDynamics Pro! > http://pubads.g.doubleclick.net/gampad/clk?id=84349831&iu=/4140/ostg.clktrk > _______________________________________________ > Emc-users mailing list > Emc-users@lists.sourceforge.net > https://lists.sourceforge.net/lists/listinfo/emc-users > > ------------------------------------------------------------------------------ Rapidly troubleshoot problems before they affect your business. Most IT organizations don't have a clear picture of how application performance affects their revenue. With AppDynamics, you get 100% visibility into your Java,.NET, & PHP application. Start your 15-day FREE TRIAL of AppDynamics Pro! http://pubads.g.doubleclick.net/gampad/clk?id=84349831&iu=/4140/ostg.clktrk _______________________________________________ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
