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Replace double with float, optimize calculation

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This commit is contained in:
etagle
2018-07-01 17:20:28 -03:00
committed by Scott Lahteine
parent d960d448fa
commit 1367df2875
38 changed files with 263 additions and 267 deletions
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28
Marlin/src/module/planner_bezier.cpp
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@ -40,12 +40,12 @@
#include "../gcode/queue.h"
// See the meaning in the documentation of cubic_b_spline().
#define MIN_STEP 0.002
#define MAX_STEP 0.1
#define SIGMA 0.1
#define MIN_STEP 0.002f
#define MAX_STEP 0.1f
#define SIGMA 0.1f
// Compute the linear interpolation between two real numbers.
inline static float interp(float a, float b, float t) { return (1.0 - t) * a + t * b; }
inline static float interp(float a, float b, float t) { return (1 - t) * a + t * b; }
/**
* Compute a Bézier curve using the De Casteljau's algorithm (see
@ -114,7 +114,7 @@ void cubic_b_spline(const float position[NUM_AXIS], const float target[NUM_AXIS]
first1 = position[Y_AXIS] + offset[1],
second0 = target[X_AXIS] + offset[2],
second1 = target[Y_AXIS] + offset[3];
float t = 0.0;
float t = 0;
float bez_target[4];
bez_target[X_AXIS] = position[X_AXIS];
@ -123,7 +123,7 @@ void cubic_b_spline(const float position[NUM_AXIS], const float target[NUM_AXIS]
millis_t next_idle_ms = millis() + 200UL;
while (t < 1.0) {
while (t < 1) {
thermalManager.manage_heater();
millis_t now = millis();
@ -136,16 +136,16 @@ void cubic_b_spline(const float position[NUM_AXIS], const float target[NUM_AXIS]
// close to a linear interpolation.
bool did_reduce = false;
float new_t = t + step;
NOMORE(new_t, 1.0);
NOMORE(new_t, 1);
float new_pos0 = eval_bezier(position[X_AXIS], first0, second0, target[X_AXIS], new_t),
new_pos1 = eval_bezier(position[Y_AXIS], first1, second1, target[Y_AXIS], new_t);
for (;;) {
if (new_t - t < (MIN_STEP)) break;
const float candidate_t = 0.5 * (t + new_t),
const float candidate_t = 0.5f * (t + new_t),
candidate_pos0 = eval_bezier(position[X_AXIS], first0, second0, target[X_AXIS], candidate_t),
candidate_pos1 = eval_bezier(position[Y_AXIS], first1, second1, target[Y_AXIS], candidate_t),
interp_pos0 = 0.5 * (bez_target[X_AXIS] + new_pos0),
interp_pos1 = 0.5 * (bez_target[Y_AXIS] + new_pos1);
interp_pos0 = 0.5f * (bez_target[X_AXIS] + new_pos0),
interp_pos1 = 0.5f * (bez_target[Y_AXIS] + new_pos1);
if (dist1(candidate_pos0, candidate_pos1, interp_pos0, interp_pos1) <= (SIGMA)) break;
new_t = candidate_t;
new_pos0 = candidate_pos0;
@ -156,12 +156,12 @@ void cubic_b_spline(const float position[NUM_AXIS], const float target[NUM_AXIS]
// If we did not reduce the step, maybe we should enlarge it.
if (!did_reduce) for (;;) {
if (new_t - t > MAX_STEP) break;
const float candidate_t = t + 2.0 * (new_t - t);
if (candidate_t >= 1.0) break;
const float candidate_t = t + 2 * (new_t - t);
if (candidate_t >= 1) break;
const float candidate_pos0 = eval_bezier(position[X_AXIS], first0, second0, target[X_AXIS], candidate_t),
candidate_pos1 = eval_bezier(position[Y_AXIS], first1, second1, target[Y_AXIS], candidate_t),
interp_pos0 = 0.5 * (bez_target[X_AXIS] + candidate_pos0),
interp_pos1 = 0.5 * (bez_target[Y_AXIS] + candidate_pos1);
interp_pos0 = 0.5f * (bez_target[X_AXIS] + candidate_pos0),
interp_pos1 = 0.5f * (bez_target[Y_AXIS] + candidate_pos1);
if (dist1(new_pos0, new_pos1, interp_pos0, interp_pos1) > (SIGMA)) break;
new_t = candidate_t;
new_pos0 = candidate_pos0;