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UBL G29 -P3.1 smart fill (#6823)

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* UBL G29 -P3.1 mesh fill with distance-weighted least squares fit.

* Back to original -O0 on G29 for now.
This commit is contained in:
oldmcg
2017-05-22 12:33:50 -05:00
committed by Roxy-3D
parent 850203fb3a
commit 48f7652143
4 changed files with 136 additions and 28 deletions
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41
Marlin/least_squares_fit.h
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@ -41,16 +41,49 @@
#include <math.h>
struct linear_fit_data {
int n;
float xbar, ybar, zbar,
x2bar, y2bar, z2bar,
xybar, xzbar, yzbar,
max_absx, max_absy,
A, B, D;
A, B, D, N;
};
void incremental_LSF_reset(struct linear_fit_data *);
void incremental_LSF(struct linear_fit_data *, float x, float y, float z);
void inline incremental_LSF_reset(struct linear_fit_data *lsf) {
memset(lsf, 0, sizeof(linear_fit_data));
}
void inline incremental_WLSF(struct linear_fit_data *lsf, float x, float y, float z, float w) {
// weight each accumulator by factor w, including the "number" of samples
// (analagous to calling inc_LSF twice with same values to weight it by 2X)
lsf->xbar += w * x;
lsf->ybar += w * y;
lsf->zbar += w * z;
lsf->x2bar += w * x * x; // don't use sq(x) -- let compiler re-use w*x four times
lsf->y2bar += w * y * y;
lsf->z2bar += w * z * z;
lsf->xybar += w * x * y;
lsf->xzbar += w * x * z;
lsf->yzbar += w * y * z;
lsf->N += w;
lsf->max_absx = max(fabs( w * x ), lsf->max_absx);
lsf->max_absy = max(fabs( w * y ), lsf->max_absy);
}
void inline incremental_LSF(struct linear_fit_data *lsf, float x, float y, float z) {
lsf->xbar += x;
lsf->ybar += y;
lsf->zbar += z;
lsf->x2bar += sq(x);
lsf->y2bar += sq(y);
lsf->z2bar += sq(z);
lsf->xybar += x * y;
lsf->xzbar += x * z;
lsf->yzbar += y * z;
lsf->max_absx = max(fabs(x), lsf->max_absx);
lsf->max_absy = max(fabs(y), lsf->max_absy);
lsf->N += 1.0;
}
int finish_incremental_LSF(struct linear_fit_data *);
#endif