private double ComputeDerivative(int deriv, double ha, double hb, double hc)
{
var perturb = 0.2; // perturbation amount in mm or degrees
var hiParams = new Delta(this.diagonal, this.radius, this.homedHeight, this.xstop, this.ystop, this.zstop, this.xadj, this.yadj, this.zadj);
var loParams = new Delta(this.diagonal, this.radius, this.homedHeight, this.xstop, this.ystop, this.zstop, this.xadj, this.yadj, this.zadj);
switch (deriv)
{
case 0:
case 1:
case 2:
break;
case 3:
hiParams.radius += perturb;
loParams.radius -= perturb;
break;
case 4:
hiParams.xadj += perturb;
loParams.xadj -= perturb;
break;
case 5:
hiParams.yadj += perturb;
loParams.yadj -= perturb;
break;
case 6:
hiParams.diagonal += perturb;
loParams.diagonal -= perturb;
break;
}
hiParams.Recalc();
loParams.Recalc();
var zHi = hiParams.InverseTransform((deriv == 0) ? ha + perturb : ha, (deriv == 1) ? hb + perturb : hb, (deriv == 2) ? hc + perturb : hc);
var zLo = loParams.InverseTransform((deriv == 0) ? ha - perturb : ha, (deriv == 1) ? hb - perturb : hb, (deriv == 2) ? hc - perturb : hc);
return((zHi - zLo) / (2 * perturb));
}
private double ComputeDerivative(int deriv, double ha, double hb, double hc)
{
var perturb = 0.2; // perturbation amount in mm or degrees
var hiParams = new Delta(this.diagonal, this.radius, this.homedHeight, this.xstop, this.ystop, this.zstop, this.xadj, this.yadj, this.zadj);
var loParams = new Delta(this.diagonal, this.radius, this.homedHeight, this.xstop, this.ystop, this.zstop, this.xadj, this.yadj, this.zadj);
switch (deriv)
{
case 0:
case 1:
case 2:
break;
case 3:
hiParams.radius += perturb;
loParams.radius -= perturb;
break;
case 4:
hiParams.xadj += perturb;
loParams.xadj -= perturb;
break;
case 5:
hiParams.yadj += perturb;
loParams.yadj -= perturb;
break;
case 6:
hiParams.diagonal += perturb;
loParams.diagonal -= perturb;
break;
}
hiParams.Recalc();
loParams.Recalc();
var zHi = hiParams.InverseTransform((deriv == 0) ? ha + perturb : ha, (deriv == 1) ? hb + perturb : hb, (deriv == 2) ? hc + perturb : hc);
var zLo = loParams.InverseTransform((deriv == 0) ? ha - perturb : ha, (deriv == 1) ? hb - perturb : hb, (deriv == 2) ? hc - perturb : hc);
return (zHi - zLo) / (2 * perturb);
}
