Move 'libs' files

2017-09-06 06:28:30 -05:00
parent cc92e544a5
commit efa578d6b0
16 changed files with 0 additions and 0 deletions
--- a/Marlin/src/libs/vector_3.h
+++ b/Marlin/src/libs/vector_3.h
@@ -0,0 +1,83 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ *
+ */
+
+/**
+  vector_3.cpp - Vector library for bed leveling
+  Copyright (c) 2012 Lars Brubaker.  All right reserved.
+
+  This library is free software; you can redistribute it and/or
+  modify it under the terms of the GNU Lesser General Public
+  License as published by the Free Software Foundation; either
+  version 2.1 of the License, or (at your option) any later version.
+
+  This library is distributed in the hope that it will be useful,
+  but WITHOUT ANY WARRANTY; without even the implied warranty of
+  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+  Lesser General Public License for more details.
+
+  You should have received a copy of the GNU Lesser General Public
+  License along with this library; if not, write to the Free Software
+  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
+*/
+#ifndef VECTOR_3_H
+#define VECTOR_3_H
+
+#if HAS_ABL
+
+class matrix_3x3;
+
+struct vector_3 {
+  float x, y, z;
+
+  vector_3();
+  vector_3(float x, float y, float z);
+
+  static vector_3 cross(vector_3 a, vector_3 b);
+
+  vector_3 operator+(vector_3 v);
+  vector_3 operator-(vector_3 v);
+  void normalize();
+  float get_length();
+  vector_3 get_normal();
+
+  void debug(const char * const title);
+
+  void apply_rotation(matrix_3x3 matrix);
+};
+
+struct matrix_3x3 {
+  float matrix[9];
+
+  static matrix_3x3 create_from_rows(vector_3 row_0, vector_3 row_1, vector_3 row_2);
+  static matrix_3x3 create_look_at(vector_3 target);
+  static matrix_3x3 transpose(matrix_3x3 original);
+
+  void set_to_identity();
+
+  void debug(const char * const title);
+};
+
+
+void apply_rotation_xyz(matrix_3x3 rotationMatrix, float &x, float &y, float &z);
+
+#endif // HAS_ABL
+#endif // VECTOR_3_H