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.
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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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Marlin/planner.cpp
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@ -942,7 +942,7 @@ vector_3 plan_get_position() {
//position.debug("in plan_get position");
//plan_bed_level_matrix.debug("in plan_get bed_level");
matrix_3x3 inverse = matrix_3x3::create_inverse(plan_bed_level_matrix);
matrix_3x3 inverse = matrix_3x3::transpose(plan_bed_level_matrix);
//inverse.debug("in plan_get inverse");
position.apply_rotation(inverse);
//position.debug("after rotation");