On 12/16/2013 01:43 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 >
By the way, some of the less ordinary posemath operations defined in the header file remained stubbed out in the actual code. Invoking them should solicit a PM_IMPL_ERR error "not implemented." Occasionally a new user discovers this the hard way. I suppose one could think of these missing operations as a possible homework assignment. 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
