From dac1f6fe74715bc4fcfc8f7f386b56ad8fee02d7 Mon Sep 17 00:00:00 2001 From: Scott Lahteine Date: Wed, 1 Nov 2017 12:04:18 -0500 Subject: [PATCH] Tweaks to cubic_b_spline code style --- Marlin/src/module/planner_bezier.cpp | 32 ++++++++++++++-------------- 1 file changed, 16 insertions(+), 16 deletions(-) diff --git a/Marlin/src/module/planner_bezier.cpp b/Marlin/src/module/planner_bezier.cpp index e5becc10c4..136362d346 100644 --- a/Marlin/src/module/planner_bezier.cpp +++ b/Marlin/src/module/planner_bezier.cpp @@ -111,10 +111,10 @@ inline static float dist1(float x1, float y1, float x2, float y2) { return FABS( */ void cubic_b_spline(const float position[NUM_AXIS], const float target[NUM_AXIS], const float offset[4], float fr_mm_s, uint8_t extruder) { // Absolute first and second control points are recovered. - float first0 = position[X_AXIS] + offset[0]; - float first1 = position[Y_AXIS] + offset[1]; - float second0 = target[X_AXIS] + offset[2]; - float second1 = target[Y_AXIS] + offset[3]; + const float first0 = position[X_AXIS] + offset[0], + first1 = position[Y_AXIS] + offset[1], + second0 = target[X_AXIS] + offset[2], + second1 = target[Y_AXIS] + offset[3]; float t = 0.0; float bez_target[4]; @@ -138,15 +138,15 @@ void cubic_b_spline(const float position[NUM_AXIS], const float target[NUM_AXIS] bool did_reduce = false; float new_t = t + step; NOMORE(new_t, 1.0); - float new_pos0 = eval_bezier(position[X_AXIS], first0, second0, target[X_AXIS], new_t); - float new_pos1 = eval_bezier(position[Y_AXIS], first1, second1, target[Y_AXIS], new_t); + 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; - float candidate_t = 0.5 * (t + new_t); - float candidate_pos0 = eval_bezier(position[X_AXIS], first0, second0, target[X_AXIS], candidate_t); - float candidate_pos1 = eval_bezier(position[Y_AXIS], first1, second1, target[Y_AXIS], candidate_t); - float interp_pos0 = 0.5 * (bez_target[X_AXIS] + new_pos0); - float interp_pos1 = 0.5 * (bez_target[Y_AXIS] + new_pos1); + const float candidate_t = 0.5 * (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); if (dist1(candidate_pos0, candidate_pos1, interp_pos0, interp_pos1) <= (SIGMA)) break; new_t = candidate_t; new_pos0 = candidate_pos0; @@ -157,12 +157,12 @@ 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; - float candidate_t = t + 2.0 * (new_t - t); + const float candidate_t = t + 2.0 * (new_t - t); if (candidate_t >= 1.0) break; - float candidate_pos0 = eval_bezier(position[X_AXIS], first0, second0, target[X_AXIS], candidate_t); - float candidate_pos1 = eval_bezier(position[Y_AXIS], first1, second1, target[Y_AXIS], candidate_t); - float interp_pos0 = 0.5 * (bez_target[X_AXIS] + candidate_pos0); - float interp_pos1 = 0.5 * (bez_target[Y_AXIS] + candidate_pos1); + 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); if (dist1(new_pos0, new_pos1, interp_pos0, interp_pos1) > (SIGMA)) break; new_t = candidate_t; new_pos0 = candidate_pos0;