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接续上一轮：推进浏览器验证与M428配置收拢

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结论：已完成浏览器侧真实加载验证，M428/M429/M430 的配置入口进一步从 LinuxCNC INI/HALFILE/REMAP 来源生成，native 与 source-link 验证通过。
This commit is contained in:
cnc
2026-05-30 10:03:21 +08:00
parent b40914747d
commit de273bf830
141 changed files with 11255 additions and 1259 deletions
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73
core/src/rtcp_kinematics.h
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@@ -83,12 +83,78 @@ struct LinuxCncScaraJoints {
double j5;
};
struct LinuxCncGenhexJoints {
double strut[6];
};
struct LinuxCncPentakinsJoints {
double strut[5];
};
struct LinuxCncTripodJoints {
double strut[3];
};
struct LinuxCncScorbotJoints {
double j0;
double j1;
double j2;
double j3;
double j4;
};
struct LinuxCncLinearDeltaParameters {
double r;
double l;
};
struct LinuxCncRotaryDeltaParameters {
double platformradius;
double thighlength;
double shinlength;
double footradius;
};
struct LinuxCncMaxkinsParameters {
double pivot_length;
bool conventional_directions;
};
LinuxCncAxisJoints linuxcnc_identity_default_joints();
CncSimPose linuxcnc_identity_forward(const LinuxCncAxisJoints &joints);
LinuxCncAxisJoints linuxcnc_identity_inverse(const CncSimPose &pose);
CncSimPose linuxcnc_corexykins_forward(const LinuxCncAxisJoints &joints);
LinuxCncAxisJoints linuxcnc_corexykins_inverse(const CncSimPose &pose);
CncSimPose linuxcnc_rotatekins_forward(const LinuxCncAxisJoints &joints);
LinuxCncAxisJoints linuxcnc_rotatekins_inverse(const CncSimPose &pose);
LinuxCncGenhexJoints linuxcnc_genhex_inverse(const CncSimPose &pose);
CncSimPose linuxcnc_genhex_forward(const LinuxCncGenhexJoints &joints, const CncSimPose &initial_pose);
LinuxCncPentakinsJoints linuxcnc_pentakins_inverse(const CncSimPose &pose);
CncSimPose linuxcnc_pentakins_forward(const LinuxCncPentakinsJoints &joints,
const CncSimPose &initial_pose);
LinuxCncTripodJoints linuxcnc_tripodkins_inverse(const CncSimPose &pose);
CncSimPose linuxcnc_tripodkins_forward(const LinuxCncTripodJoints &joints);
LinuxCncScorbotJoints linuxcnc_scorbot_kins_inverse(const CncSimPose &pose);
CncSimPose linuxcnc_scorbot_kins_forward(const LinuxCncScorbotJoints &joints);
LinuxCncLinearDeltaParameters linuxcnc_lineardelta_default_parameters();
CncSimPose linuxcnc_lineardelta_forward(const LinuxCncAxisJoints &joints,
const LinuxCncLinearDeltaParameters &parameters);
LinuxCncAxisJoints linuxcnc_lineardelta_inverse(const CncSimPose &pose,
const LinuxCncLinearDeltaParameters &parameters);
LinuxCncRotaryDeltaParameters linuxcnc_rotarydelta_default_parameters();
CncSimPose linuxcnc_rotarydelta_forward(const LinuxCncAxisJoints &joints,
const LinuxCncRotaryDeltaParameters &parameters);
LinuxCncAxisJoints linuxcnc_rotarydelta_inverse(const CncSimPose &pose,
const LinuxCncRotaryDeltaParameters &parameters);
LinuxCncMaxkinsParameters linuxcnc_maxkins_default_parameters();
CncSimPose linuxcnc_maxkins_forward(const LinuxCncAxisJoints &joints,
const LinuxCncMaxkinsParameters &parameters);
LinuxCncAxisJoints linuxcnc_maxkins_inverse(const CncSimPose &pose,
const LinuxCncMaxkinsParameters &parameters);
CncSimPose linuxcnc_rosekins_forward(const LinuxCncAxisJoints &joints);
LinuxCncAxisJoints linuxcnc_rosekins_inverse(const CncSimPose &pose);
CncSimPose linuxcnc_5axis_forward(const LinuxCncFiveAxisJoints &joints, double pivot_length);
LinuxCncFiveAxisJoints linuxcnc_5axis_inverse(const CncSimPose &pose, double pivot_length);
@@ -132,6 +198,7 @@ LinuxCncAxisJoints linuxcnc_puma_inverse(const CncSimPose &pose,
int *fflags);
LinuxCncGenserParameters linuxcnc_genser_puma560_parameters();
LinuxCncGenserParameters linuxcnc_genser_default_parameters(int *max_iterations = nullptr);
CncSimPose linuxcnc_genser_forward(const LinuxCncAxisJoints &joints,
const LinuxCncGenserParameters &parameters);
LinuxCncAxisJoints linuxcnc_genser_inverse(const CncSimPose &pose,
@@ -139,3 +206,9 @@ LinuxCncAxisJoints linuxcnc_genser_inverse(const CncSimPose &pose,
const LinuxCncGenserParameters &parameters,
int *iterations,
int max_iterations = 100);
bool linuxcnc_genser_inverse_checked(const CncSimPose &pose,
const LinuxCncAxisJoints &joint_estimate,
const LinuxCncGenserParameters &parameters,
LinuxCncAxisJoints *joints,
int *iterations,
int max_iterations = 100);