bissen21/Marlin_Firmware
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Fixed the plane vector equation to a simpler one (only dependent on the normal)

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Removed the calculation of the inverse matrix since the rotation matrix is orthogonal, therefore inverted == transposed.
Much simpler and mathematically robust.
This commit is contained in:
fsantini
2013-12-06 21:32:21 +01:00
parent 5c44f6c434
commit b64661070e
4 changed files with 26 additions and 50 deletions
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5
Marlin/Marlin_main.cpp
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@@ -807,11 +807,11 @@ static void set_bed_level_equation(float z_at_xLeft_yFront, float z_at_xRight_yF
vector_3 xPositive = (xRightyFront - xLeftyFront).get_normal();
vector_3 yPositive = (xLeftyBack - xLeftyFront).get_normal();
vector_3 planeNormal = vector_3::cross(yPositive, xPositive).get_normal();
vector_3 planeNormal = vector_3::cross(xPositive, yPositive).get_normal();
//planeNormal.debug("planeNormal");
//yPositive.debug("yPositive");
matrix_3x3 bedLevel = matrix_3x3::create_look_at(planeNormal, yPositive);
plan_bed_level_matrix = matrix_3x3::create_look_at(planeNormal);
//bedLevel.debug("bedLevel");
//plan_bed_level_matrix.debug("bed level before");
@@ -819,7 +819,6 @@ static void set_bed_level_equation(float z_at_xLeft_yFront, float z_at_xRight_yF
//uncorrected_position.debug("position before");
// and set our bed level equation to do the right thing
plan_bed_level_matrix = matrix_3x3::create_inverse(bedLevel);
//plan_bed_level_matrix.debug("bed level after");
vector_3 corrected_position = plan_get_position();