b75cd3dd52
This PR fixes header uniformity across all Path files. It also removes all trailing whitespace.
324 lines
9.5 KiB
C++
324 lines
9.5 KiB
C++
/***************************************************************************
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* Copyright (c) 2014 Yorik van Havre <yorik@uncreated.net> *
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* *
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* This file is part of the FreeCAD CAx development system. *
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* *
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* This library is free software; you can redistribute it and/or *
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* modify it under the terms of the GNU Library General Public *
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* License as published by the Free Software Foundation; either *
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* version 2 of the License, or (at your option) any later version. *
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* *
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* This library 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 Library General Public License for more details. *
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* *
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* You should have received a copy of the GNU Library General Public *
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* License along with this library; see the file COPYING.LIB. If not, *
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* write to the Free Software Foundation, Inc., 59 Temple Place, *
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* Suite 330, Boston, MA 02111-1307, USA *
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* *
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***************************************************************************/
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#include "PreCompiled.h"
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#ifndef _PreComp_
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# include <cinttypes>
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# include <iomanip>
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# include <boost/algorithm/string.hpp>
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# include <boost/lexical_cast.hpp>
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#endif
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#include <Base/Vector3D.h>
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#include <Base/Rotation.h>
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#include <Base/Writer.h>
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#include <Base/Reader.h>
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#include <Base/Exception.h>
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#include "Command.h"
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using namespace Base;
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using namespace Path;
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TYPESYSTEM_SOURCE(Path::Command , Base::Persistence)
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// Constructors & destructors
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Command::Command(const char* name,
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const std::map<std::string, double>& parameters)
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:Name(name),Parameters(parameters)
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{
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}
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Command::Command()
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{
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}
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Command::~Command()
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{
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}
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// New methods
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Placement Command::getPlacement (const Base::Vector3d pos) const
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{
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static const std::string x = "X";
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static const std::string y = "Y";
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static const std::string z = "Z";
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static const std::string a = "A";
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static const std::string b = "B";
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static const std::string c = "C";
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Vector3d vec(getParam(x, pos.x),getParam(y, pos.y),getParam(z, pos.z));
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Rotation rot;
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rot.setYawPitchRoll(getParam(a),getParam(b),getParam(c));
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Placement plac(vec,rot);
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return plac;
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}
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Vector3d Command::getCenter (void) const
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{
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static const std::string i = "I";
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static const std::string j = "J";
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static const std::string k = "K";
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Vector3d vec(getParam(i),getParam(j),getParam(k));
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return vec;
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}
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double Command::getValue(const std::string& attr) const
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{
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std::string a(attr);
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boost::to_upper(a);
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return getParam(a);
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}
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bool Command::has(const std::string& attr) const
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{
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std::string a(attr);
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boost::to_upper(a);
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return Parameters.count(a) > 0;
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}
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std::string Command::toGCode (int precision, bool padzero) const
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{
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std::stringstream str;
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str.fill('0');
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str << Name;
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if(precision<0)
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precision = 0;
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double scale = std::pow(10.0,precision+1);
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std::int64_t iscale = static_cast<std::int64_t>(scale)/10;
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for(std::map<std::string,double>::const_iterator i = Parameters.begin(); i != Parameters.end(); ++i) {
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if(i->first == "N") continue;
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str << " " << i->first;
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std::int64_t v = static_cast<std::int64_t>(i->second*scale);
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if(v<0) {
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v = -v;
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str << '-'; //shall we allow -0 ?
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}
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v+=5;
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v /= 10;
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str << (v/iscale);
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if(!precision) continue;
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int width = precision;
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std::int64_t digits = v%iscale;
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if(!padzero) {
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if(!digits) continue;
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while(digits%10 == 0) {
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digits/=10;
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--width;
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}
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}
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str << '.' << std::setw(width) << std::right << digits;
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}
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return str.str();
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}
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void Command::setFromGCode (const std::string& str)
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{
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Parameters.clear();
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std::string mode = "none";
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std::string key;
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std::string value;
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for (unsigned int i=0; i < str.size(); i++) {
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if ( (isdigit(str[i])) || (str[i] == '-') || (str[i] == '.') ) {
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value += str[i];
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} else if (isalpha(str[i])) {
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if (mode == "command") {
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if (!key.empty() && !value.empty()) {
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std::string cmd = key + value;
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boost::to_upper(cmd);
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Name = cmd;
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key = "";
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value = "";
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mode = "argument";
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} else {
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throw Base::BadFormatError("Badly formatted GCode command");
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}
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mode = "argument";
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} else if (mode == "none") {
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mode = "command";
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} else if (mode == "argument") {
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if (!key.empty() && !value.empty()) {
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double val = std::atof(value.c_str());
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boost::to_upper(key);
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Parameters[key] = val;
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key = "";
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value = "";
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} else {
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throw Base::BadFormatError("Badly formatted GCode argument");
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}
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} else if (mode == "comment") {
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value += str[i];
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}
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key = str[i];
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} else if (str[i] == '(') {
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mode = "comment";
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} else if (str[i] == ')') {
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key = "(";
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value += ")";
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} else {
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// add non-ascii characters only if this is a comment
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if (mode == "comment") {
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value += str[i];
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}
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}
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}
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if (!key.empty() && !value.empty()) {
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if ( (mode == "command") || (mode == "comment") ) {
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std::string cmd = key + value;
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if (mode == "command")
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boost::to_upper(cmd);
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Name = cmd;
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} else {
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double val = std::atof(value.c_str());
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boost::to_upper(key);
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Parameters[key] = val;
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}
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} else {
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throw Base::BadFormatError("Badly formatted GCode argument");
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}
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}
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void Command::setFromPlacement (const Base::Placement &plac)
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{
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Name = "G1";
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Parameters.clear();
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static const std::string x = "X";
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static const std::string y = "Y";
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static const std::string z = "Z";
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static const std::string a = "A";
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static const std::string b = "B";
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static const std::string c = "C";
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double xval, yval, zval, aval, bval, cval;
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xval = plac.getPosition().x;
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yval = plac.getPosition().y;
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zval = plac.getPosition().z;
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plac.getRotation().getYawPitchRoll(aval,bval,cval);
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if (xval != 0.0)
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Parameters[x] = xval;
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if (yval != 0.0)
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Parameters[y] = yval;
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if (zval != 0.0)
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Parameters[z] = zval;
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if (aval != 0.0)
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Parameters[a] = aval;
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if (bval != 0.0)
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Parameters[b] = bval;
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if (cval != 0.0)
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Parameters[c] = cval;
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}
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void Command::setCenter(const Base::Vector3d &pos, bool clockwise)
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{
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if (clockwise) {
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Name = "G2";
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} else {
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Name = "G3";
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}
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static const std::string i = "I";
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static const std::string j = "J";
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static const std::string k = "K";
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double ival, jval, kval;
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ival = pos.x;
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jval = pos.y;
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kval = pos.z;
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Parameters[i] = ival;
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Parameters[j] = jval;
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Parameters[k] = kval;
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}
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Command Command::transform(const Base::Placement& other)
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{
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Base::Placement plac = getPlacement();
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plac *= other;
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double xval, yval, zval, aval, bval, cval;
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xval = plac.getPosition().x;
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yval = plac.getPosition().y;
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zval = plac.getPosition().z;
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plac.getRotation().getYawPitchRoll(aval,bval,cval);
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Command c = Command();
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c.Name = Name;
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for(std::map<std::string,double>::const_iterator i = Parameters.begin(); i != Parameters.end(); ++i) {
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std::string k = i->first;
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double v = i->second;
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if (k == "X")
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v = xval;
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if (k == "Y")
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v = yval;
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if (k == "Z")
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v = zval;
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if (k == "A")
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v = aval;
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if (k == "B")
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v = bval;
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if (k == "C")
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v = cval;
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c.Parameters[k] = v;
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}
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return c;
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}
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void Command::scaleBy(double factor)
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{
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for(std::map<std::string, double>::const_iterator i = Parameters.begin(); i != Parameters.end(); ++i) {
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switch (i->first[0]) {
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case 'X':
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case 'Y':
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case 'Z':
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case 'I':
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case 'J':
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case 'R':
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case 'Q':
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case 'F':
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Parameters[i->first] = i->second * factor;
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break;
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}
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}
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}
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// Reimplemented from base class
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unsigned int Command::getMemSize (void) const
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{
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return toGCode().size();
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}
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void Command::Save (Writer &writer) const
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{
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// this will only get used if saved as XML (probably never)
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writer.Stream() << writer.ind() << "<Command "
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<< "gcode=\"" << toGCode() << "\" />";
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writer.Stream()<< std::endl;
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}
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void Command::Restore(XMLReader &reader)
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{
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reader.readElement("Command");
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std::string gcode = reader.getAttribute("gcode");
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setFromGCode(gcode);
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}
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