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/********************************************************************
* Description: tc.h
* Discriminate-based trajectory planning
*
* Derived from a work by Fred Proctor & Will Shackleford
*
* Author:
* License: GPL Version 2
* System: Linux
*
* Copyright (c) 2004 All rights reserved.
*
* Last change:
********************************************************************/
#ifndef TC_H
#define TC_H
#include "spherical_arc.h"
#include "posemath.h"
#include "emcpos.h"
#include "emcmotcfg.h"
#include "tc_types.h"
#include "tp_types.h"
double tcGetMaxTargetVel(TC_STRUCT const * const tc,
double max_scale);
double tcGetOverallMaxAccel(TC_STRUCT const * tc);
double tcGetTangentialMaxAccel(TC_STRUCT const * const tc);
int tcSetKinkProperties(TC_STRUCT *prev_tc, TC_STRUCT *tc, double kink_vel, double accel_reduction);
int tcInitKinkProperties(TC_STRUCT *tc);
int tcRemoveKinkProperties(TC_STRUCT *prev_tc, TC_STRUCT *tc);
int tcGetEndpoint(TC_STRUCT const * const tc, EmcPose * const out);
int tcGetStartpoint(TC_STRUCT const * const tc, EmcPose * const out);
int tcGetPos(TC_STRUCT const * const tc, EmcPose * const out);
int tcGetPosReal(TC_STRUCT const * const tc, int of_endpoint, EmcPose * const out);
int tcGetEndAccelUnitVector(TC_STRUCT const * const tc, PmCartesian * const out);
int tcGetStartAccelUnitVector(TC_STRUCT const * const tc, PmCartesian * const out);
int tcGetEndTangentUnitVector(TC_STRUCT const * const tc, PmCartesian * const out);
int tcGetStartTangentUnitVector(TC_STRUCT const * const tc, PmCartesian * const out);
double tcGetDistanceToGo(TC_STRUCT const * const tc, int direction);
double tcGetTarget(TC_STRUCT const * const tc, int direction);
int tcGetIntersectionPoint(TC_STRUCT const * const prev_tc,
TC_STRUCT const * const tc, PmCartesian * const point);
int tcCanConsume(TC_STRUCT const * const tc);
int tcSetTermCond(TC_STRUCT * prev_tc, TC_STRUCT * tc, int term_cond);
int tcConnectBlendArc(TC_STRUCT * const prev_tc, TC_STRUCT * const tc,
PmCartesian const * const circ_start,
PmCartesian const * const circ_end);
int tcIsBlending(TC_STRUCT * const tc);
int tcFindBlendTolerance(TC_STRUCT const * const prev_tc,
TC_STRUCT const * const tc, double * const T_blend, double * const nominal_tolerance);
int pmCircleTangentVector(PmCircle const * const circle,
double angle_in, PmCartesian * const out);
int tcFlagEarlyStop(TC_STRUCT * const tc,
TC_STRUCT * const nexttc);
double pmLine9Target(PmLine9 * const line9);
int pmLine9Init(PmLine9 * const line9,
EmcPose const * const start,
EmcPose const * const end);
double pmCircle9Target(PmCircle9 const * const circ9);
int pmCircle9Init(PmCircle9 * const circ9,
EmcPose const * const start,
EmcPose const * const end,
PmCartesian const * const center,
PmCartesian const * const normal,
int turn);
int pmRigidTapInit(PmRigidTap * const tap,
EmcPose const * const start,
EmcPose const * const end,
double reversal_scale);
double pmRigidTapTarget(PmRigidTap * const tap, double uu_per_rev);
int tcInit(TC_STRUCT * const tc,
int motion_type,
int canon_motion_type,
double cycle_time,
unsigned char enables,
char atspeed);
int tcSetupFromTP(TC_STRUCT * const tc, TP_STRUCT const * const tp);
int tcSetupMotion(TC_STRUCT * const tc,
double vel,
double ini_maxvel,
double acc);
int tcSetupState(TC_STRUCT * const tc, TP_STRUCT const * const tp);
int tcUpdateCircleAccRatio(TC_STRUCT * tc);
int tcFinalizeLength(TC_STRUCT * const tc);
int tcClampVelocityByLength(TC_STRUCT * const tc);
int tcPureRotaryCheck(TC_STRUCT const * const tc);
int tcSetCircleXYZ(TC_STRUCT * const tc, PmCircle const * const circ);
int tcClearFlags(TC_STRUCT * const tc);
#endif /* TC_H */
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