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575 lines
41 KiB
575 lines
41 KiB
/**
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* Marlin 3D Printer Firmware
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* Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
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*
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* Based on Sprinter and grbl.
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* Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
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*
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* This program is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with this program. If not, see <https://www.gnu.org/licenses/>.
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*
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*/
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#pragma once
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#include <math.h>
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#include <stddef.h>
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#include "../inc/MarlinConfigPre.h"
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class __FlashStringHelper;
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typedef const __FlashStringHelper *progmem_str;
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//
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// Conditional type assignment magic. For example...
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//
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// typename IF<(MYOPT==12), int, float>::type myvar;
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//
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template <bool, class L, class R>
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struct IF { typedef R type; };
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template <class L, class R>
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struct IF<true, L, R> { typedef L type; };
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#define LINEAR_AXIS_GANG(V...) GANG_N(LINEAR_AXES, V)
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#define LINEAR_AXIS_CODE(V...) CODE_N(LINEAR_AXES, V)
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#define LINEAR_AXIS_LIST(V...) LIST_N(LINEAR_AXES, V)
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#define LINEAR_AXIS_ARRAY(V...) { LINEAR_AXIS_LIST(V) }
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#define LOGICAL_AXIS_GANG(E,V...) LINEAR_AXIS_GANG(V) GANG_ITEM_E(E)
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#define LOGICAL_AXIS_CODE(E,V...) LINEAR_AXIS_CODE(V) CODE_ITEM_E(E)
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#define LOGICAL_AXIS_LIST(E,V...) LINEAR_AXIS_LIST(V) LIST_ITEM_E(E)
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#define LOGICAL_AXIS_ARRAY(E,V...) { LOGICAL_AXIS_LIST(E,V) }
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#if HAS_EXTRUDERS
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#define LIST_ITEM_E(N) , N
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#define CODE_ITEM_E(N) ; N
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#define GANG_ITEM_E(N) N
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#else
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#define LIST_ITEM_E(N)
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#define CODE_ITEM_E(N)
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#define GANG_ITEM_E(N)
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#endif
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//
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// Enumerated axis indices
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//
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// - X_AXIS, Y_AXIS, and Z_AXIS should be used for axes in Cartesian space
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// - A_AXIS, B_AXIS, and C_AXIS should be used for Steppers, corresponding to XYZ on Cartesians
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// - X_HEAD, Y_HEAD, and Z_HEAD should be used for Steppers on Core kinematics
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//
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enum AxisEnum : uint8_t {
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// Linear axes may be controlled directly or indirectly
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LINEAR_AXIS_LIST(X_AXIS, Y_AXIS, Z_AXIS),
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// Extruder axes may be considered distinctly
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#define _EN_ITEM(N) E##N##_AXIS,
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REPEAT(EXTRUDERS, _EN_ITEM)
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#undef _EN_ITEM
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// Core also keeps toolhead directions
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#if IS_CORE
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X_HEAD, Y_HEAD, Z_HEAD,
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#endif
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// Distinct axes, including all E and Core
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NUM_AXIS_ENUMS,
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// Most of the time we refer only to the single E_AXIS
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#if HAS_EXTRUDERS
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E_AXIS = E0_AXIS,
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#endif
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// A, B, and C are for DELTA, SCARA, etc.
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A_AXIS = X_AXIS,
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#if LINEAR_AXES >= 2
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B_AXIS = Y_AXIS,
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#endif
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#if LINEAR_AXES >= 3
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C_AXIS = Z_AXIS,
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#endif
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// To refer to all or none
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ALL_AXES_ENUM = 0xFE, NO_AXIS_ENUM = 0xFF
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};
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typedef IF<(NUM_AXIS_ENUMS > 8), uint16_t, uint8_t>::type axis_bits_t;
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//
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// Loop over axes
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//
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#define LOOP_ABC(VAR) LOOP_S_LE_N(VAR, A_AXIS, C_AXIS)
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#define LOOP_LINEAR_AXES(VAR) LOOP_S_L_N(VAR, X_AXIS, LINEAR_AXES)
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#define LOOP_LOGICAL_AXES(VAR) LOOP_S_L_N(VAR, X_AXIS, LOGICAL_AXES)
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#define LOOP_DISTINCT_AXES(VAR) LOOP_S_L_N(VAR, X_AXIS, DISTINCT_AXES)
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//
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// feedRate_t is just a humble float
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//
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typedef float feedRate_t;
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//
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// celsius_t is the native unit of temperature. Signed to handle a disconnected thermistor value (-14).
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// For more resolition (e.g., for a chocolate printer) this may later be changed to Celsius x 100
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//
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typedef int16_t celsius_t;
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typedef float celsius_float_t;
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//
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// On AVR pointers are only 2 bytes so use 'const float &' for 'const float'
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//
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#ifdef __AVR__
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typedef const float & const_float_t;
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#else
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typedef const float const_float_t;
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#endif
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typedef const_float_t const_feedRate_t;
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typedef const_float_t const_celsius_float_t;
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// Conversion macros
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#define MMM_TO_MMS(MM_M) feedRate_t(static_cast<float>(MM_M) / 60.0f)
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#define MMS_TO_MMM(MM_S) (static_cast<float>(MM_S) * 60.0f)
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//
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// Coordinates structures for XY, XYZ, XYZE...
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//
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// Helpers
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#define _RECIP(N) ((N) ? 1.0f / static_cast<float>(N) : 0.0f)
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#define _ABS(N) ((N) < 0 ? -(N) : (N))
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#define _LS(N) (N = (T)(uint32_t(N) << v))
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#define _RS(N) (N = (T)(uint32_t(N) >> v))
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#define FI FORCE_INLINE
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// Forward declarations
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template<typename T> struct XYval;
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template<typename T> struct XYZval;
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template<typename T> struct XYZEval;
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typedef struct XYval<bool> xy_bool_t;
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typedef struct XYZval<bool> xyz_bool_t;
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typedef struct XYZEval<bool> xyze_bool_t;
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typedef struct XYval<char> xy_char_t;
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typedef struct XYZval<char> xyz_char_t;
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typedef struct XYZEval<char> xyze_char_t;
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typedef struct XYval<unsigned char> xy_uchar_t;
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typedef struct XYZval<unsigned char> xyz_uchar_t;
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typedef struct XYZEval<unsigned char> xyze_uchar_t;
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typedef struct XYval<int8_t> xy_int8_t;
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typedef struct XYZval<int8_t> xyz_int8_t;
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typedef struct XYZEval<int8_t> xyze_int8_t;
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typedef struct XYval<uint8_t> xy_uint8_t;
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typedef struct XYZval<uint8_t> xyz_uint8_t;
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typedef struct XYZEval<uint8_t> xyze_uint8_t;
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typedef struct XYval<int16_t> xy_int_t;
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typedef struct XYZval<int16_t> xyz_int_t;
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typedef struct XYZEval<int16_t> xyze_int_t;
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typedef struct XYval<uint16_t> xy_uint_t;
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typedef struct XYZval<uint16_t> xyz_uint_t;
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typedef struct XYZEval<uint16_t> xyze_uint_t;
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typedef struct XYval<int32_t> xy_long_t;
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typedef struct XYZval<int32_t> xyz_long_t;
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typedef struct XYZEval<int32_t> xyze_long_t;
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typedef struct XYval<uint32_t> xy_ulong_t;
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typedef struct XYZval<uint32_t> xyz_ulong_t;
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typedef struct XYZEval<uint32_t> xyze_ulong_t;
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typedef struct XYZval<volatile int32_t> xyz_vlong_t;
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typedef struct XYZEval<volatile int32_t> xyze_vlong_t;
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typedef struct XYval<float> xy_float_t;
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typedef struct XYZval<float> xyz_float_t;
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typedef struct XYZEval<float> xyze_float_t;
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typedef struct XYval<feedRate_t> xy_feedrate_t;
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typedef struct XYZval<feedRate_t> xyz_feedrate_t;
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typedef struct XYZEval<feedRate_t> xyze_feedrate_t;
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typedef xy_uint8_t xy_byte_t;
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typedef xyz_uint8_t xyz_byte_t;
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typedef xyze_uint8_t xyze_byte_t;
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typedef xyz_long_t abc_long_t;
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typedef xyze_long_t abce_long_t;
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typedef xyz_ulong_t abc_ulong_t;
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typedef xyze_ulong_t abce_ulong_t;
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typedef xy_float_t xy_pos_t;
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typedef xyz_float_t xyz_pos_t;
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typedef xyze_float_t xyze_pos_t;
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typedef xy_float_t ab_float_t;
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typedef xyz_float_t abc_float_t;
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typedef xyze_float_t abce_float_t;
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typedef ab_float_t ab_pos_t;
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typedef abc_float_t abc_pos_t;
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typedef abce_float_t abce_pos_t;
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// External conversion methods
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void toLogical(xy_pos_t &raw);
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void toLogical(xyz_pos_t &raw);
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void toLogical(xyze_pos_t &raw);
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void toNative(xy_pos_t &raw);
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void toNative(xyz_pos_t &raw);
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void toNative(xyze_pos_t &raw);
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//
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// Paired XY coordinates, counters, flags, etc.
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//
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template<typename T>
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struct XYval {
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union {
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struct { T x, y; };
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struct { T a, b; };
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T pos[2];
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};
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FI void set(const T px) { x = px; }
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FI void set(const T px, const T py) { x = px; y = py; }
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FI void set(const T (&arr)[XY]) { x = arr[0]; y = arr[1]; }
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#if LINEAR_AXES > XY
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FI void set(const T (&arr)[LINEAR_AXES]) { x = arr[0]; y = arr[1]; }
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#endif
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#if LOGICAL_AXES > LINEAR_AXES
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FI void set(const T (&arr)[LOGICAL_AXES]) { x = arr[0]; y = arr[1]; }
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#if DISTINCT_AXES > LOGICAL_AXES
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FI void set(const T (&arr)[DISTINCT_AXES]) { x = arr[0]; y = arr[1]; }
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#endif
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#endif
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FI void reset() { x = y = 0; }
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FI T magnitude() const { return (T)sqrtf(x*x + y*y); }
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FI operator T* () { return pos; }
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FI operator bool() { return x || y; }
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FI XYval<T> copy() const { return *this; }
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FI XYval<T> ABS() const { return { T(_ABS(x)), T(_ABS(y)) }; }
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FI XYval<int16_t> asInt() { return { int16_t(x), int16_t(y) }; }
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FI XYval<int16_t> asInt() const { return { int16_t(x), int16_t(y) }; }
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FI XYval<int32_t> asLong() { return { int32_t(x), int32_t(y) }; }
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FI XYval<int32_t> asLong() const { return { int32_t(x), int32_t(y) }; }
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FI XYval<int32_t> ROUNDL() { return { int32_t(LROUND(x)), int32_t(LROUND(y)) }; }
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FI XYval<int32_t> ROUNDL() const { return { int32_t(LROUND(x)), int32_t(LROUND(y)) }; }
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FI XYval<float> asFloat() { return { static_cast<float>(x), static_cast<float>(y) }; }
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FI XYval<float> asFloat() const { return { static_cast<float>(x), static_cast<float>(y) }; }
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FI XYval<float> reciprocal() const { return { _RECIP(x), _RECIP(y) }; }
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FI XYval<float> asLogical() const { XYval<float> o = asFloat(); toLogical(o); return o; }
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FI XYval<float> asNative() const { XYval<float> o = asFloat(); toNative(o); return o; }
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FI operator XYZval<T>() { return { x, y }; }
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FI operator XYZval<T>() const { return { x, y }; }
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FI operator XYZEval<T>() { return { x, y }; }
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FI operator XYZEval<T>() const { return { x, y }; }
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FI T& operator[](const int n) { return pos[n]; }
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FI const T& operator[](const int n) const { return pos[n]; }
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FI XYval<T>& operator= (const T v) { set(v, v ); return *this; }
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FI XYval<T>& operator= (const XYZval<T> &rs) { set(rs.x, rs.y); return *this; }
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FI XYval<T>& operator= (const XYZEval<T> &rs) { set(rs.x, rs.y); return *this; }
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FI XYval<T> operator+ (const XYval<T> &rs) const { XYval<T> ls = *this; ls.x += rs.x; ls.y += rs.y; return ls; }
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FI XYval<T> operator+ (const XYval<T> &rs) { XYval<T> ls = *this; ls.x += rs.x; ls.y += rs.y; return ls; }
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FI XYval<T> operator- (const XYval<T> &rs) const { XYval<T> ls = *this; ls.x -= rs.x; ls.y -= rs.y; return ls; }
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FI XYval<T> operator- (const XYval<T> &rs) { XYval<T> ls = *this; ls.x -= rs.x; ls.y -= rs.y; return ls; }
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FI XYval<T> operator* (const XYval<T> &rs) const { XYval<T> ls = *this; ls.x *= rs.x; ls.y *= rs.y; return ls; }
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FI XYval<T> operator* (const XYval<T> &rs) { XYval<T> ls = *this; ls.x *= rs.x; ls.y *= rs.y; return ls; }
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FI XYval<T> operator/ (const XYval<T> &rs) const { XYval<T> ls = *this; ls.x /= rs.x; ls.y /= rs.y; return ls; }
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FI XYval<T> operator/ (const XYval<T> &rs) { XYval<T> ls = *this; ls.x /= rs.x; ls.y /= rs.y; return ls; }
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FI XYval<T> operator+ (const XYZval<T> &rs) const { XYval<T> ls = *this; ls.x += rs.x; ls.y += rs.y; return ls; }
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FI XYval<T> operator+ (const XYZval<T> &rs) { XYval<T> ls = *this; ls.x += rs.x; ls.y += rs.y; return ls; }
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FI XYval<T> operator- (const XYZval<T> &rs) const { XYval<T> ls = *this; ls.x -= rs.x; ls.y -= rs.y; return ls; }
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FI XYval<T> operator- (const XYZval<T> &rs) { XYval<T> ls = *this; ls.x -= rs.x; ls.y -= rs.y; return ls; }
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FI XYval<T> operator* (const XYZval<T> &rs) const { XYval<T> ls = *this; ls.x *= rs.x; ls.y *= rs.y; return ls; }
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FI XYval<T> operator* (const XYZval<T> &rs) { XYval<T> ls = *this; ls.x *= rs.x; ls.y *= rs.y; return ls; }
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FI XYval<T> operator/ (const XYZval<T> &rs) const { XYval<T> ls = *this; ls.x /= rs.x; ls.y /= rs.y; return ls; }
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FI XYval<T> operator/ (const XYZval<T> &rs) { XYval<T> ls = *this; ls.x /= rs.x; ls.y /= rs.y; return ls; }
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FI XYval<T> operator+ (const XYZEval<T> &rs) const { XYval<T> ls = *this; ls.x += rs.x; ls.y += rs.y; return ls; }
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FI XYval<T> operator+ (const XYZEval<T> &rs) { XYval<T> ls = *this; ls.x += rs.x; ls.y += rs.y; return ls; }
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FI XYval<T> operator- (const XYZEval<T> &rs) const { XYval<T> ls = *this; ls.x -= rs.x; ls.y -= rs.y; return ls; }
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FI XYval<T> operator- (const XYZEval<T> &rs) { XYval<T> ls = *this; ls.x -= rs.x; ls.y -= rs.y; return ls; }
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FI XYval<T> operator* (const XYZEval<T> &rs) const { XYval<T> ls = *this; ls.x *= rs.x; ls.y *= rs.y; return ls; }
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FI XYval<T> operator* (const XYZEval<T> &rs) { XYval<T> ls = *this; ls.x *= rs.x; ls.y *= rs.y; return ls; }
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FI XYval<T> operator/ (const XYZEval<T> &rs) const { XYval<T> ls = *this; ls.x /= rs.x; ls.y /= rs.y; return ls; }
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FI XYval<T> operator/ (const XYZEval<T> &rs) { XYval<T> ls = *this; ls.x /= rs.x; ls.y /= rs.y; return ls; }
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FI XYval<T> operator* (const float &v) const { XYval<T> ls = *this; ls.x *= v; ls.y *= v; return ls; }
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FI XYval<T> operator* (const float &v) { XYval<T> ls = *this; ls.x *= v; ls.y *= v; return ls; }
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FI XYval<T> operator* (const int &v) const { XYval<T> ls = *this; ls.x *= v; ls.y *= v; return ls; }
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FI XYval<T> operator* (const int &v) { XYval<T> ls = *this; ls.x *= v; ls.y *= v; return ls; }
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FI XYval<T> operator/ (const float &v) const { XYval<T> ls = *this; ls.x /= v; ls.y /= v; return ls; }
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FI XYval<T> operator/ (const float &v) { XYval<T> ls = *this; ls.x /= v; ls.y /= v; return ls; }
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FI XYval<T> operator/ (const int &v) const { XYval<T> ls = *this; ls.x /= v; ls.y /= v; return ls; }
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FI XYval<T> operator/ (const int &v) { XYval<T> ls = *this; ls.x /= v; ls.y /= v; return ls; }
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FI XYval<T> operator>>(const int &v) const { XYval<T> ls = *this; _RS(ls.x); _RS(ls.y); return ls; }
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FI XYval<T> operator>>(const int &v) { XYval<T> ls = *this; _RS(ls.x); _RS(ls.y); return ls; }
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FI XYval<T> operator<<(const int &v) const { XYval<T> ls = *this; _LS(ls.x); _LS(ls.y); return ls; }
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FI XYval<T> operator<<(const int &v) { XYval<T> ls = *this; _LS(ls.x); _LS(ls.y); return ls; }
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FI XYval<T>& operator+=(const XYval<T> &rs) { x += rs.x; y += rs.y; return *this; }
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FI XYval<T>& operator-=(const XYval<T> &rs) { x -= rs.x; y -= rs.y; return *this; }
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FI XYval<T>& operator*=(const XYval<T> &rs) { x *= rs.x; y *= rs.y; return *this; }
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FI XYval<T>& operator+=(const XYZval<T> &rs) { x += rs.x; y += rs.y; return *this; }
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FI XYval<T>& operator-=(const XYZval<T> &rs) { x -= rs.x; y -= rs.y; return *this; }
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FI XYval<T>& operator*=(const XYZval<T> &rs) { x *= rs.x; y *= rs.y; return *this; }
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FI XYval<T>& operator+=(const XYZEval<T> &rs) { x += rs.x; y += rs.y; return *this; }
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FI XYval<T>& operator-=(const XYZEval<T> &rs) { x -= rs.x; y -= rs.y; return *this; }
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FI XYval<T>& operator*=(const XYZEval<T> &rs) { x *= rs.x; y *= rs.y; return *this; }
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FI XYval<T>& operator*=(const float &v) { x *= v; y *= v; return *this; }
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FI XYval<T>& operator*=(const int &v) { x *= v; y *= v; return *this; }
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FI XYval<T>& operator>>=(const int &v) { _RS(x); _RS(y); return *this; }
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FI XYval<T>& operator<<=(const int &v) { _LS(x); _LS(y); return *this; }
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FI bool operator==(const XYval<T> &rs) { return x == rs.x && y == rs.y; }
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FI bool operator==(const XYZval<T> &rs) { return x == rs.x && y == rs.y; }
|
|
FI bool operator==(const XYZEval<T> &rs) { return x == rs.x && y == rs.y; }
|
|
FI bool operator==(const XYval<T> &rs) const { return x == rs.x && y == rs.y; }
|
|
FI bool operator==(const XYZval<T> &rs) const { return x == rs.x && y == rs.y; }
|
|
FI bool operator==(const XYZEval<T> &rs) const { return x == rs.x && y == rs.y; }
|
|
FI bool operator!=(const XYval<T> &rs) { return !operator==(rs); }
|
|
FI bool operator!=(const XYZval<T> &rs) { return !operator==(rs); }
|
|
FI bool operator!=(const XYZEval<T> &rs) { return !operator==(rs); }
|
|
FI bool operator!=(const XYval<T> &rs) const { return !operator==(rs); }
|
|
FI bool operator!=(const XYZval<T> &rs) const { return !operator==(rs); }
|
|
FI bool operator!=(const XYZEval<T> &rs) const { return !operator==(rs); }
|
|
FI XYval<T> operator-() { XYval<T> o = *this; o.x = -x; o.y = -y; return o; }
|
|
FI const XYval<T> operator-() const { XYval<T> o = *this; o.x = -x; o.y = -y; return o; }
|
|
};
|
|
|
|
//
|
|
// Linear Axes coordinates, counters, flags, etc.
|
|
//
|
|
template<typename T>
|
|
struct XYZval {
|
|
union {
|
|
struct { T LINEAR_AXIS_LIST(x, y, z); };
|
|
struct { T LINEAR_AXIS_LIST(a, b, c); };
|
|
T pos[LINEAR_AXES];
|
|
};
|
|
FI void set(const T px) { x = px; }
|
|
FI void set(const T px, const T py) { x = px; y = py; }
|
|
FI void set(const XYval<T> pxy) { x = pxy.x; y = pxy.y; }
|
|
FI void set(const XYval<T> pxy, const T pz) { x = pxy.x; y = pxy.y; z = pz; }
|
|
FI void set(const T (&arr)[XY]) { x = arr[0]; y = arr[1]; }
|
|
FI void set(const T (&arr)[LINEAR_AXES]) { LINEAR_AXIS_CODE(x = arr[0], y = arr[1], z = arr[2]); }
|
|
#if LINEAR_AXES >= XYZ
|
|
FI void set(LINEAR_AXIS_LIST(const T px, const T py, const T pz))
|
|
{ LINEAR_AXIS_CODE(x = px, y = py, z = pz); }
|
|
#endif
|
|
#if LOGICAL_AXES > LINEAR_AXES
|
|
FI void set(const T (&arr)[LOGICAL_AXES]) { LINEAR_AXIS_CODE(x = arr[0], y = arr[1], z = arr[2]); }
|
|
FI void set(LOGICAL_AXIS_LIST(const T, const T px, const T py, const T pz))
|
|
{ LINEAR_AXIS_CODE(x = px, y = py, z = pz); }
|
|
#if DISTINCT_AXES > LOGICAL_AXES
|
|
FI void set(const T (&arr)[DISTINCT_AXES]) { LINEAR_AXIS_CODE(x = arr[0], y = arr[1], z = arr[2]); }
|
|
#endif
|
|
#endif
|
|
FI void reset() { LINEAR_AXIS_GANG(x =, y =, z =) 0; }
|
|
FI T magnitude() const { return (T)sqrtf(LINEAR_AXIS_GANG(x*x, + y*y, + z*z)); }
|
|
FI operator T* () { return pos; }
|
|
FI operator bool() { return LINEAR_AXIS_GANG(z, || x, || y); }
|
|
FI XYZval<T> copy() const { XYZval<T> o = *this; return o; }
|
|
FI XYZval<T> ABS() const { return LINEAR_AXIS_ARRAY(T(_ABS(x)), T(_ABS(y)), T(_ABS(z))); }
|
|
FI XYZval<int16_t> asInt() { return LINEAR_AXIS_ARRAY(int16_t(x), int16_t(y), int16_t(z)); }
|
|
FI XYZval<int16_t> asInt() const { return LINEAR_AXIS_ARRAY(int16_t(x), int16_t(y), int16_t(z)); }
|
|
FI XYZval<int32_t> asLong() { return LINEAR_AXIS_ARRAY(int32_t(x), int32_t(y), int32_t(z)); }
|
|
FI XYZval<int32_t> asLong() const { return LINEAR_AXIS_ARRAY(int32_t(x), int32_t(y), int32_t(z)); }
|
|
FI XYZval<int32_t> ROUNDL() { return LINEAR_AXIS_ARRAY(int32_t(LROUND(x)), int32_t(LROUND(y)), int32_t(LROUND(z))); }
|
|
FI XYZval<int32_t> ROUNDL() const { return LINEAR_AXIS_ARRAY(int32_t(LROUND(x)), int32_t(LROUND(y)), int32_t(LROUND(z))); }
|
|
FI XYZval<float> asFloat() { return LINEAR_AXIS_ARRAY(static_cast<float>(x), static_cast<float>(y), static_cast<float>(z)); }
|
|
FI XYZval<float> asFloat() const { return LINEAR_AXIS_ARRAY(static_cast<float>(x), static_cast<float>(y), static_cast<float>(z)); }
|
|
FI XYZval<float> reciprocal() const { return LINEAR_AXIS_ARRAY(_RECIP(x), _RECIP(y), _RECIP(z)); }
|
|
FI XYZval<float> asLogical() const { XYZval<float> o = asFloat(); toLogical(o); return o; }
|
|
FI XYZval<float> asNative() const { XYZval<float> o = asFloat(); toNative(o); return o; }
|
|
FI operator XYval<T>&() { return *(XYval<T>*)this; }
|
|
FI operator const XYval<T>&() const { return *(const XYval<T>*)this; }
|
|
FI operator XYZEval<T>() const { return LINEAR_AXIS_ARRAY(x, y, z); }
|
|
FI T& operator[](const int n) { return pos[n]; }
|
|
FI const T& operator[](const int n) const { return pos[n]; }
|
|
FI XYZval<T>& operator= (const T v) { set(ARRAY_N_1(LINEAR_AXES, v)); return *this; }
|
|
FI XYZval<T>& operator= (const XYval<T> &rs) { set(rs.x, rs.y ); return *this; }
|
|
FI XYZval<T>& operator= (const XYZEval<T> &rs) { set(LINEAR_AXIS_LIST(rs.x, rs.y, rs.z)); return *this; }
|
|
FI XYZval<T> operator+ (const XYval<T> &rs) const { XYZval<T> ls = *this; LINEAR_AXIS_CODE(ls.x += rs.x, ls.y += rs.y, NOOP ); return ls; }
|
|
FI XYZval<T> operator+ (const XYval<T> &rs) { XYZval<T> ls = *this; LINEAR_AXIS_CODE(ls.x += rs.x, ls.y += rs.y, NOOP ); return ls; }
|
|
FI XYZval<T> operator- (const XYval<T> &rs) const { XYZval<T> ls = *this; LINEAR_AXIS_CODE(ls.x -= rs.x, ls.y -= rs.y, NOOP ); return ls; }
|
|
FI XYZval<T> operator- (const XYval<T> &rs) { XYZval<T> ls = *this; LINEAR_AXIS_CODE(ls.x -= rs.x, ls.y -= rs.y, NOOP ); return ls; }
|
|
FI XYZval<T> operator* (const XYval<T> &rs) const { XYZval<T> ls = *this; LINEAR_AXIS_CODE(ls.x *= rs.x, ls.y *= rs.y, NOOP ); return ls; }
|
|
FI XYZval<T> operator* (const XYval<T> &rs) { XYZval<T> ls = *this; LINEAR_AXIS_CODE(ls.x *= rs.x, ls.y *= rs.y, NOOP ); return ls; }
|
|
FI XYZval<T> operator/ (const XYval<T> &rs) const { XYZval<T> ls = *this; LINEAR_AXIS_CODE(ls.x /= rs.x, ls.y /= rs.y, NOOP ); return ls; }
|
|
FI XYZval<T> operator/ (const XYval<T> &rs) { XYZval<T> ls = *this; LINEAR_AXIS_CODE(ls.x /= rs.x, ls.y /= rs.y, NOOP ); return ls; }
|
|
FI XYZval<T> operator+ (const XYZval<T> &rs) const { XYZval<T> ls = *this; LINEAR_AXIS_CODE(ls.x += rs.x, ls.y += rs.y, ls.z += rs.z); return ls; }
|
|
FI XYZval<T> operator+ (const XYZval<T> &rs) { XYZval<T> ls = *this; LINEAR_AXIS_CODE(ls.x += rs.x, ls.y += rs.y, ls.z += rs.z); return ls; }
|
|
FI XYZval<T> operator- (const XYZval<T> &rs) const { XYZval<T> ls = *this; LINEAR_AXIS_CODE(ls.x -= rs.x, ls.y -= rs.y, ls.z -= rs.z); return ls; }
|
|
FI XYZval<T> operator- (const XYZval<T> &rs) { XYZval<T> ls = *this; LINEAR_AXIS_CODE(ls.x -= rs.x, ls.y -= rs.y, ls.z -= rs.z); return ls; }
|
|
FI XYZval<T> operator* (const XYZval<T> &rs) const { XYZval<T> ls = *this; LINEAR_AXIS_CODE(ls.x *= rs.x, ls.y *= rs.y, ls.z *= rs.z); return ls; }
|
|
FI XYZval<T> operator* (const XYZval<T> &rs) { XYZval<T> ls = *this; LINEAR_AXIS_CODE(ls.x *= rs.x, ls.y *= rs.y, ls.z *= rs.z); return ls; }
|
|
FI XYZval<T> operator/ (const XYZval<T> &rs) const { XYZval<T> ls = *this; LINEAR_AXIS_CODE(ls.x /= rs.x, ls.y /= rs.y, ls.z /= rs.z); return ls; }
|
|
FI XYZval<T> operator/ (const XYZval<T> &rs) { XYZval<T> ls = *this; LINEAR_AXIS_CODE(ls.x /= rs.x, ls.y /= rs.y, ls.z /= rs.z); return ls; }
|
|
FI XYZval<T> operator+ (const XYZEval<T> &rs) const { XYZval<T> ls = *this; LINEAR_AXIS_CODE(ls.x += rs.x, ls.y += rs.y, ls.z += rs.z); return ls; }
|
|
FI XYZval<T> operator+ (const XYZEval<T> &rs) { XYZval<T> ls = *this; LINEAR_AXIS_CODE(ls.x += rs.x, ls.y += rs.y, ls.z += rs.z); return ls; }
|
|
FI XYZval<T> operator- (const XYZEval<T> &rs) const { XYZval<T> ls = *this; LINEAR_AXIS_CODE(ls.x -= rs.x, ls.y -= rs.y, ls.z -= rs.z); return ls; }
|
|
FI XYZval<T> operator- (const XYZEval<T> &rs) { XYZval<T> ls = *this; LINEAR_AXIS_CODE(ls.x -= rs.x, ls.y -= rs.y, ls.z -= rs.z); return ls; }
|
|
FI XYZval<T> operator* (const XYZEval<T> &rs) const { XYZval<T> ls = *this; LINEAR_AXIS_CODE(ls.x *= rs.x, ls.y *= rs.y, ls.z *= rs.z); return ls; }
|
|
FI XYZval<T> operator* (const XYZEval<T> &rs) { XYZval<T> ls = *this; LINEAR_AXIS_CODE(ls.x *= rs.x, ls.y *= rs.y, ls.z *= rs.z); return ls; }
|
|
FI XYZval<T> operator/ (const XYZEval<T> &rs) const { XYZval<T> ls = *this; LINEAR_AXIS_CODE(ls.x /= rs.x, ls.y /= rs.y, ls.z /= rs.z); return ls; }
|
|
FI XYZval<T> operator/ (const XYZEval<T> &rs) { XYZval<T> ls = *this; LINEAR_AXIS_CODE(ls.x /= rs.x, ls.y /= rs.y, ls.z /= rs.z); return ls; }
|
|
FI XYZval<T> operator* (const float &v) const { XYZval<T> ls = *this; LINEAR_AXIS_CODE(ls.x *= v, ls.y *= v, ls.z *= v ); return ls; }
|
|
FI XYZval<T> operator* (const float &v) { XYZval<T> ls = *this; LINEAR_AXIS_CODE(ls.x *= v, ls.y *= v, ls.z *= v ); return ls; }
|
|
FI XYZval<T> operator* (const int &v) const { XYZval<T> ls = *this; LINEAR_AXIS_CODE(ls.x *= v, ls.y *= v, ls.z *= v ); return ls; }
|
|
FI XYZval<T> operator* (const int &v) { XYZval<T> ls = *this; LINEAR_AXIS_CODE(ls.x *= v, ls.y *= v, ls.z *= v ); return ls; }
|
|
FI XYZval<T> operator/ (const float &v) const { XYZval<T> ls = *this; LINEAR_AXIS_CODE(ls.x /= v, ls.y /= v, ls.z /= v ); return ls; }
|
|
FI XYZval<T> operator/ (const float &v) { XYZval<T> ls = *this; LINEAR_AXIS_CODE(ls.x /= v, ls.y /= v, ls.z /= v ); return ls; }
|
|
FI XYZval<T> operator/ (const int &v) const { XYZval<T> ls = *this; LINEAR_AXIS_CODE(ls.x /= v, ls.y /= v, ls.z /= v ); return ls; }
|
|
FI XYZval<T> operator/ (const int &v) { XYZval<T> ls = *this; LINEAR_AXIS_CODE(ls.x /= v, ls.y /= v, ls.z /= v ); return ls; }
|
|
FI XYZval<T> operator>>(const int &v) const { XYZval<T> ls = *this; LINEAR_AXIS_CODE(_RS(ls.x), _RS(ls.y), _RS(ls.z) ); return ls; }
|
|
FI XYZval<T> operator>>(const int &v) { XYZval<T> ls = *this; LINEAR_AXIS_CODE(_RS(ls.x), _RS(ls.y), _RS(ls.z) ); return ls; }
|
|
FI XYZval<T> operator<<(const int &v) const { XYZval<T> ls = *this; LINEAR_AXIS_CODE(_LS(ls.x), _LS(ls.y), _LS(ls.z) ); return ls; }
|
|
FI XYZval<T> operator<<(const int &v) { XYZval<T> ls = *this; LINEAR_AXIS_CODE(_LS(ls.x), _LS(ls.y), _LS(ls.z) ); return ls; }
|
|
FI XYZval<T>& operator+=(const XYval<T> &rs) { LINEAR_AXIS_CODE(x += rs.x, y += rs.y, NOOP ); return *this; }
|
|
FI XYZval<T>& operator-=(const XYval<T> &rs) { LINEAR_AXIS_CODE(x -= rs.x, y -= rs.y, NOOP ); return *this; }
|
|
FI XYZval<T>& operator*=(const XYval<T> &rs) { LINEAR_AXIS_CODE(x *= rs.x, y *= rs.y, NOOP ); return *this; }
|
|
FI XYZval<T>& operator/=(const XYval<T> &rs) { LINEAR_AXIS_CODE(x /= rs.x, y /= rs.y, NOOP ); return *this; }
|
|
FI XYZval<T>& operator+=(const XYZval<T> &rs) { LINEAR_AXIS_CODE(x += rs.x, y += rs.y, z += rs.z ); return *this; }
|
|
FI XYZval<T>& operator-=(const XYZval<T> &rs) { LINEAR_AXIS_CODE(x -= rs.x, y -= rs.y, z -= rs.z ); return *this; }
|
|
FI XYZval<T>& operator*=(const XYZval<T> &rs) { LINEAR_AXIS_CODE(x *= rs.x, y *= rs.y, z *= rs.z ); return *this; }
|
|
FI XYZval<T>& operator/=(const XYZval<T> &rs) { LINEAR_AXIS_CODE(x /= rs.x, y /= rs.y, z /= rs.z ); return *this; }
|
|
FI XYZval<T>& operator+=(const XYZEval<T> &rs) { LINEAR_AXIS_CODE(x += rs.x, y += rs.y, z += rs.z ); return *this; }
|
|
FI XYZval<T>& operator-=(const XYZEval<T> &rs) { LINEAR_AXIS_CODE(x -= rs.x, y -= rs.y, z -= rs.z ); return *this; }
|
|
FI XYZval<T>& operator*=(const XYZEval<T> &rs) { LINEAR_AXIS_CODE(x *= rs.x, y *= rs.y, z *= rs.z ); return *this; }
|
|
FI XYZval<T>& operator/=(const XYZEval<T> &rs) { LINEAR_AXIS_CODE(x /= rs.x, y /= rs.y, z /= rs.z ); return *this; }
|
|
FI XYZval<T>& operator*=(const float &v) { LINEAR_AXIS_CODE(x *= v, y *= v, z *= v ); return *this; }
|
|
FI XYZval<T>& operator*=(const int &v) { LINEAR_AXIS_CODE(x *= v, y *= v, z *= v ); return *this; }
|
|
FI XYZval<T>& operator>>=(const int &v) { LINEAR_AXIS_CODE(_RS(x), _RS(y), _RS(z) ); return *this; }
|
|
FI XYZval<T>& operator<<=(const int &v) { LINEAR_AXIS_CODE(_LS(x), _LS(y), _LS(z) ); return *this; }
|
|
FI bool operator==(const XYZEval<T> &rs) { return true LINEAR_AXIS_GANG(&& x == rs.x, && y == rs.y, && z == rs.z); }
|
|
FI bool operator==(const XYZEval<T> &rs) const { return true LINEAR_AXIS_GANG(&& x == rs.x, && y == rs.y, && z == rs.z); }
|
|
FI bool operator!=(const XYZEval<T> &rs) { return !operator==(rs); }
|
|
FI bool operator!=(const XYZEval<T> &rs) const { return !operator==(rs); }
|
|
FI XYZval<T> operator-() { XYZval<T> o = *this; LINEAR_AXIS_CODE(o.x = -x, o.y = -y, o.z = -z); return o; }
|
|
FI const XYZval<T> operator-() const { XYZval<T> o = *this; LINEAR_AXIS_CODE(o.x = -x, o.y = -y, o.z = -z); return o; }
|
|
};
|
|
|
|
//
|
|
// Logical Axes coordinates, counters, etc.
|
|
//
|
|
template<typename T>
|
|
struct XYZEval {
|
|
union {
|
|
struct{ T LOGICAL_AXIS_LIST(e, x, y, z); };
|
|
struct{ T LINEAR_AXIS_LIST(a, b, c); };
|
|
T pos[LOGICAL_AXES];
|
|
};
|
|
FI void reset() { LOGICAL_AXIS_GANG(e =, x =, y =, z =) 0; }
|
|
FI T magnitude() const { return (T)sqrtf(LOGICAL_AXIS_GANG(+ e*e, + x*x, + y*y, + z*z)); }
|
|
FI operator T* () { return pos; }
|
|
FI operator bool() { return false LOGICAL_AXIS_GANG(|| e, || x, || y, || z); }
|
|
FI void set(const T px) { x = px; }
|
|
FI void set(const T px, const T py) { x = px; y = py; }
|
|
FI void set(const XYval<T> pxy) { x = pxy.x; y = pxy.y; }
|
|
FI void set(const XYZval<T> pxyz) { set(LINEAR_AXIS_LIST(pxyz.x, pxyz.y, pxyz.z)); }
|
|
#if LINEAR_AXES >= XYZ
|
|
FI void set(LINEAR_AXIS_LIST(const T px, const T py, const T pz)) {
|
|
LINEAR_AXIS_CODE(x = px, y = py, z = pz);
|
|
}
|
|
#endif
|
|
#if LOGICAL_AXES > LINEAR_AXES
|
|
FI void set(LOGICAL_AXIS_LIST(const T pe, const T px, const T py, const T pz)) {
|
|
LOGICAL_AXIS_CODE(e = pe, x = px, y = py, z = pz);
|
|
}
|
|
FI void set(const XYval<T> pxy, const T pe) { set(pxy); e = pe; }
|
|
FI void set(const XYZval<T> pxyz, const T pe) { set(pxyz); e = pe; }
|
|
#endif
|
|
FI XYZEval<T> copy() const { XYZEval<T> o = *this; return o; }
|
|
FI XYZEval<T> ABS() const { return LOGICAL_AXIS_ARRAY(T(_ABS(e)), T(_ABS(x)), T(_ABS(y)), T(_ABS(z))); }
|
|
FI XYZEval<int16_t> asInt() { return LOGICAL_AXIS_ARRAY(int16_t(e), int16_t(x), int16_t(y), int16_t(z)); }
|
|
FI XYZEval<int16_t> asInt() const { return LOGICAL_AXIS_ARRAY(int16_t(e), int16_t(x), int16_t(y), int16_t(z)); }
|
|
FI XYZEval<int32_t> asLong() { return LOGICAL_AXIS_ARRAY(int32_t(e), int32_t(x), int32_t(y), int32_t(z)); }
|
|
FI XYZEval<int32_t> asLong() const { return LOGICAL_AXIS_ARRAY(int32_t(e), int32_t(x), int32_t(y), int32_t(z)); }
|
|
FI XYZEval<int32_t> ROUNDL() { return LOGICAL_AXIS_ARRAY(int32_t(LROUND(e)), int32_t(LROUND(x)), int32_t(LROUND(y)), int32_t(LROUND(z))); }
|
|
FI XYZEval<int32_t> ROUNDL() const { return LOGICAL_AXIS_ARRAY(int32_t(LROUND(e)), int32_t(LROUND(x)), int32_t(LROUND(y)), int32_t(LROUND(z))); }
|
|
FI XYZEval<float> asFloat() { return LOGICAL_AXIS_ARRAY(static_cast<float>(e), static_cast<float>(x), static_cast<float>(y), static_cast<float>(z)); }
|
|
FI XYZEval<float> asFloat() const { return LOGICAL_AXIS_ARRAY(static_cast<float>(e), static_cast<float>(x), static_cast<float>(y), static_cast<float>(z)); }
|
|
FI XYZEval<float> reciprocal() const { return LOGICAL_AXIS_ARRAY(_RECIP(e), _RECIP(x), _RECIP(y), _RECIP(z)); }
|
|
FI XYZEval<float> asLogical() const { XYZEval<float> o = asFloat(); toLogical(o); return o; }
|
|
FI XYZEval<float> asNative() const { XYZEval<float> o = asFloat(); toNative(o); return o; }
|
|
FI operator XYval<T>&() { return *(XYval<T>*)this; }
|
|
FI operator const XYval<T>&() const { return *(const XYval<T>*)this; }
|
|
FI operator XYZval<T>&() { return *(XYZval<T>*)this; }
|
|
FI operator const XYZval<T>&() const { return *(const XYZval<T>*)this; }
|
|
FI T& operator[](const int n) { return pos[n]; }
|
|
FI const T& operator[](const int n) const { return pos[n]; }
|
|
FI XYZEval<T>& operator= (const T v) { set(LIST_N_1(LINEAR_AXES, v)); return *this; }
|
|
FI XYZEval<T>& operator= (const XYval<T> &rs) { set(rs.x, rs.y); return *this; }
|
|
FI XYZEval<T>& operator= (const XYZval<T> &rs) { set(LINEAR_AXIS_LIST(rs.x, rs.y, rs.z)); return *this; }
|
|
FI XYZEval<T> operator+ (const XYval<T> &rs) const { XYZEval<T> ls = *this; ls.x += rs.x; ls.y += rs.y; return ls; }
|
|
FI XYZEval<T> operator+ (const XYval<T> &rs) { XYZEval<T> ls = *this; ls.x += rs.x; ls.y += rs.y; return ls; }
|
|
FI XYZEval<T> operator- (const XYval<T> &rs) const { XYZEval<T> ls = *this; ls.x -= rs.x; ls.y -= rs.y; return ls; }
|
|
FI XYZEval<T> operator- (const XYval<T> &rs) { XYZEval<T> ls = *this; ls.x -= rs.x; ls.y -= rs.y; return ls; }
|
|
FI XYZEval<T> operator* (const XYval<T> &rs) const { XYZEval<T> ls = *this; ls.x *= rs.x; ls.y *= rs.y; return ls; }
|
|
FI XYZEval<T> operator* (const XYval<T> &rs) { XYZEval<T> ls = *this; ls.x *= rs.x; ls.y *= rs.y; return ls; }
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FI XYZEval<T> operator/ (const XYval<T> &rs) const { XYZEval<T> ls = *this; ls.x /= rs.x; ls.y /= rs.y; return ls; }
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FI XYZEval<T> operator/ (const XYval<T> &rs) { XYZEval<T> ls = *this; ls.x /= rs.x; ls.y /= rs.y; return ls; }
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FI XYZEval<T> operator+ (const XYZval<T> &rs) const { XYZval<T> ls = *this; LINEAR_AXIS_CODE(ls.x += rs.x, ls.y += rs.y, ls.z += rs.z); return ls; }
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FI XYZEval<T> operator+ (const XYZval<T> &rs) { XYZval<T> ls = *this; LINEAR_AXIS_CODE(ls.x += rs.x, ls.y += rs.y, ls.z += rs.z); return ls; }
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FI XYZEval<T> operator- (const XYZval<T> &rs) const { XYZval<T> ls = *this; LINEAR_AXIS_CODE(ls.x -= rs.x, ls.y -= rs.y, ls.z -= rs.z); return ls; }
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FI XYZEval<T> operator- (const XYZval<T> &rs) { XYZval<T> ls = *this; LINEAR_AXIS_CODE(ls.x -= rs.x, ls.y -= rs.y, ls.z -= rs.z); return ls; }
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FI XYZEval<T> operator* (const XYZval<T> &rs) const { XYZval<T> ls = *this; LINEAR_AXIS_CODE(ls.x *= rs.x, ls.y *= rs.y, ls.z *= rs.z); return ls; }
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FI XYZEval<T> operator* (const XYZval<T> &rs) { XYZval<T> ls = *this; LINEAR_AXIS_CODE(ls.x *= rs.x, ls.y *= rs.y, ls.z *= rs.z); return ls; }
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FI XYZEval<T> operator/ (const XYZval<T> &rs) const { XYZval<T> ls = *this; LINEAR_AXIS_CODE(ls.x /= rs.x, ls.y /= rs.y, ls.z /= rs.z); return ls; }
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FI XYZEval<T> operator/ (const XYZval<T> &rs) { XYZval<T> ls = *this; LINEAR_AXIS_CODE(ls.x /= rs.x, ls.y /= rs.y, ls.z /= rs.z); return ls; }
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FI XYZEval<T> operator+ (const XYZEval<T> &rs) const { XYZEval<T> ls = *this; LOGICAL_AXIS_CODE(ls.e += rs.e, ls.x += rs.x, ls.y += rs.y, ls.z += rs.z ); return ls; }
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FI XYZEval<T> operator+ (const XYZEval<T> &rs) { XYZEval<T> ls = *this; LOGICAL_AXIS_CODE(ls.e += rs.e, ls.x += rs.x, ls.y += rs.y, ls.z += rs.z ); return ls; }
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FI XYZEval<T> operator- (const XYZEval<T> &rs) const { XYZEval<T> ls = *this; LOGICAL_AXIS_CODE(ls.e -= rs.e, ls.x -= rs.x, ls.y -= rs.y, ls.z -= rs.z ); return ls; }
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FI XYZEval<T> operator- (const XYZEval<T> &rs) { XYZEval<T> ls = *this; LOGICAL_AXIS_CODE(ls.e -= rs.e, ls.x -= rs.x, ls.y -= rs.y, ls.z -= rs.z ); return ls; }
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FI XYZEval<T> operator* (const XYZEval<T> &rs) const { XYZEval<T> ls = *this; LOGICAL_AXIS_CODE(ls.e *= rs.e, ls.x *= rs.x, ls.y *= rs.y, ls.z *= rs.z ); return ls; }
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FI XYZEval<T> operator* (const XYZEval<T> &rs) { XYZEval<T> ls = *this; LOGICAL_AXIS_CODE(ls.e *= rs.e, ls.x *= rs.x, ls.y *= rs.y, ls.z *= rs.z ); return ls; }
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FI XYZEval<T> operator/ (const XYZEval<T> &rs) const { XYZEval<T> ls = *this; LOGICAL_AXIS_CODE(ls.e /= rs.e, ls.x /= rs.x, ls.y /= rs.y, ls.z /= rs.z ); return ls; }
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FI XYZEval<T> operator/ (const XYZEval<T> &rs) { XYZEval<T> ls = *this; LOGICAL_AXIS_CODE(ls.e /= rs.e, ls.x /= rs.x, ls.y /= rs.y, ls.z /= rs.z ); return ls; }
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FI XYZEval<T> operator* (const float &v) const { XYZEval<T> ls = *this; LOGICAL_AXIS_CODE(ls.e *= v, ls.x *= v, ls.y *= v, ls.z *= v ); return ls; }
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FI XYZEval<T> operator* (const float &v) { XYZEval<T> ls = *this; LOGICAL_AXIS_CODE(ls.e *= v, ls.x *= v, ls.y *= v, ls.z *= v ); return ls; }
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FI XYZEval<T> operator* (const int &v) const { XYZEval<T> ls = *this; LOGICAL_AXIS_CODE(ls.e *= v, ls.x *= v, ls.y *= v, ls.z *= v ); return ls; }
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FI XYZEval<T> operator* (const int &v) { XYZEval<T> ls = *this; LOGICAL_AXIS_CODE(ls.e *= v, ls.x *= v, ls.y *= v, ls.z *= v ); return ls; }
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FI XYZEval<T> operator/ (const float &v) const { XYZEval<T> ls = *this; LOGICAL_AXIS_CODE(ls.e /= v, ls.x /= v, ls.y /= v, ls.z /= v ); return ls; }
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FI XYZEval<T> operator/ (const float &v) { XYZEval<T> ls = *this; LOGICAL_AXIS_CODE(ls.e /= v, ls.x /= v, ls.y /= v, ls.z /= v ); return ls; }
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FI XYZEval<T> operator/ (const int &v) const { XYZEval<T> ls = *this; LOGICAL_AXIS_CODE(ls.e /= v, ls.x /= v, ls.y /= v, ls.z /= v ); return ls; }
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FI XYZEval<T> operator/ (const int &v) { XYZEval<T> ls = *this; LOGICAL_AXIS_CODE(ls.e /= v, ls.x /= v, ls.y /= v, ls.z /= v ); return ls; }
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FI XYZEval<T> operator>>(const int &v) const { XYZEval<T> ls = *this; LOGICAL_AXIS_CODE(_RS(ls.e), _RS(ls.x), _RS(ls.y), _RS(ls.z) ); return ls; }
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FI XYZEval<T> operator>>(const int &v) { XYZEval<T> ls = *this; LOGICAL_AXIS_CODE(_RS(ls.e), _RS(ls.x), _RS(ls.y), _RS(ls.z) ); return ls; }
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FI XYZEval<T> operator<<(const int &v) const { XYZEval<T> ls = *this; LOGICAL_AXIS_CODE(_LS(ls.e), _LS(ls.x), _LS(ls.y), _LS(ls.z) ); return ls; }
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FI XYZEval<T> operator<<(const int &v) { XYZEval<T> ls = *this; LOGICAL_AXIS_CODE(_LS(ls.e), _LS(ls.x), _LS(ls.y), _LS(ls.z) ); return ls; }
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FI XYZEval<T>& operator+=(const XYval<T> &rs) { x += rs.x; y += rs.y; return *this; }
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FI XYZEval<T>& operator-=(const XYval<T> &rs) { x -= rs.x; y -= rs.y; return *this; }
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FI XYZEval<T>& operator*=(const XYval<T> &rs) { x *= rs.x; y *= rs.y; return *this; }
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FI XYZEval<T>& operator/=(const XYval<T> &rs) { x /= rs.x; y /= rs.y; return *this; }
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FI XYZEval<T>& operator+=(const XYZval<T> &rs) { LINEAR_AXIS_CODE(x += rs.x, y += rs.y, z += rs.z); return *this; }
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FI XYZEval<T>& operator-=(const XYZval<T> &rs) { LINEAR_AXIS_CODE(x -= rs.x, y -= rs.y, z -= rs.z); return *this; }
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FI XYZEval<T>& operator*=(const XYZval<T> &rs) { LINEAR_AXIS_CODE(x *= rs.x, y *= rs.y, z *= rs.z); return *this; }
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FI XYZEval<T>& operator/=(const XYZval<T> &rs) { LINEAR_AXIS_CODE(x /= rs.x, y /= rs.y, z /= rs.z); return *this; }
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FI XYZEval<T>& operator+=(const XYZEval<T> &rs) { LOGICAL_AXIS_CODE(e += rs.e, x += rs.x, y += rs.y, z += rs.z); return *this; }
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FI XYZEval<T>& operator-=(const XYZEval<T> &rs) { LOGICAL_AXIS_CODE(e -= rs.e, x -= rs.x, y -= rs.y, z -= rs.z); return *this; }
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FI XYZEval<T>& operator*=(const XYZEval<T> &rs) { LOGICAL_AXIS_CODE(e *= rs.e, x *= rs.x, y *= rs.y, z *= rs.z); return *this; }
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FI XYZEval<T>& operator/=(const XYZEval<T> &rs) { LOGICAL_AXIS_CODE(e /= rs.e, x /= rs.x, y /= rs.y, z /= rs.z); return *this; }
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FI XYZEval<T>& operator*=(const T &v) { LOGICAL_AXIS_CODE(e *= v, x *= v, y *= v, z *= v); return *this; }
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FI XYZEval<T>& operator>>=(const int &v) { LOGICAL_AXIS_CODE(_RS(e), _RS(x), _RS(y), _RS(z)); return *this; }
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FI XYZEval<T>& operator<<=(const int &v) { LOGICAL_AXIS_CODE(_LS(e), _LS(x), _LS(y), _LS(z)); return *this; }
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FI bool operator==(const XYZval<T> &rs) { return true LINEAR_AXIS_GANG(&& x == rs.x, && y == rs.y, && z == rs.z); }
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FI bool operator==(const XYZval<T> &rs) const { return true LINEAR_AXIS_GANG(&& x == rs.x, && y == rs.y, && z == rs.z); }
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FI bool operator!=(const XYZval<T> &rs) { return !operator==(rs); }
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FI bool operator!=(const XYZval<T> &rs) const { return !operator==(rs); }
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FI XYZEval<T> operator-() { return LOGICAL_AXIS_ARRAY(-e, -x, -y, -z); }
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FI const XYZEval<T> operator-() const { return LOGICAL_AXIS_ARRAY(-e, -x, -y, -z); }
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};
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#undef _RECIP
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#undef _ABS
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#undef _LS
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#undef _RS
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#undef FI
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