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genserkins: use posemath, remove gomath #4676

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genserkins: use posemath, remove gomath #4676

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51b74e3
genserkins: use posemath instead of gomath
grandixximo Oct 12, 2026
2798bd2
libposemath: remove gomath
grandixximo Oct 12, 2026
1b3a7fa
posemath: take the parallel checks over from blendmath
grandixximo Oct 12, 2026
3fdd1a8
tests: check the posemath parallel tests as a realtime component
grandixximo Oct 12, 2026
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2 changes: 2 additions & 0 deletions include/posemath.h
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Original file line number Diff line number Diff line change
Expand Up @@ -178,6 +178,8 @@ __attribute__((always_inline)) static inline double pmSq(double x) { return x*x;
extern int pmCartMag(PmCartesian const * const, double * const);
extern int pmCartMagSq(PmCartesian const * const, double * const);
extern int pmCartCartDisp(PmCartesian const * const v1, PmCartesian const * const v2, double *d);
extern int pmCartCartParallel(PmCartesian const * const u1, PmCartesian const * const u2, double tol);
extern int pmCartCartAntiParallel(PmCartesian const * const u1, PmCartesian const * const u2, double tol);
extern int pmCartCartAdd(PmCartesian const * const, PmCartesian const * const, PmCartesian * const);
extern int pmCartCartSub(PmCartesian const * const, PmCartesian const * const, PmCartesian * const);
extern int pmCartScalMult(PmCartesian const * const, double, PmCartesian * const);
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2 changes: 1 addition & 1 deletion src/Makefile
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Expand Up @@ -1116,7 +1116,7 @@ genhexkins-objs += $(USERKFUNCS)
obj-m += genserkins.o
genserkins-objs := emc/kinematics/genserkins.o
genserkins-objs += emc/kinematics/genserfuncs.o
genserkins-objs += libposemath/gomath.o
genserkins-objs += libposemath/_posemath.o
genserkins-objs += $(MATHSTUB)
genserkins-objs += emc/kinematics/kins_util.o
genserkins-objs += emc/kinematics/switchkins.o
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