Prettify Bed Level Correction Matrix

- Put + in front of positive values in the output

Marlin/vector_3.cpp

@@ -26,57 +26,40 @@ vector_3::vector_3() : x(0), y(0), z(0) { }
 
 vector_3::vector_3(float x_, float y_, float z_) : x(x_), y(y_), z(z_) { }
 
-vector_3 vector_3::cross(vector_3 left, vector_3 right)
+vector_3 vector_3::cross(vector_3 left, vector_3 right) {
-{
 	return vector_3(left.y * right.z - left.z * right.y,
 		left.z * right.x - left.x * right.z,
 		left.x * right.y - left.y * right.x);
 }
 
-vector_3 vector_3::operator+(vector_3 v) 
+vector_3 vector_3::operator+(vector_3 v) { return vector_3((x + v.x), (y + v.y), (z + v.z)); }
-{
+vector_3 vector_3::operator-(vector_3 v) { return vector_3((x - v.x), (y - v.y), (z - v.z)); }
-	return vector_3((x + v.x), (y + v.y), (z + v.z));
-}
-
-vector_3 vector_3::operator-(vector_3 v) 
-{
-	return vector_3((x - v.x), (y - v.y), (z - v.z));
-}
 
-vector_3 vector_3::get_normal() 
+vector_3 vector_3::get_normal() {
-{
 	vector_3 normalized = vector_3(x, y, z);
 	normalized.normalize();
 	return normalized;
 }
 
-float vector_3::get_length() 
+float vector_3::get_length() { return sqrt((x * x) + (y * y) + (z * z)); }
-{
+
-	float length = sqrt((x * x) + (y * y) + (z * z));
+void vector_3::normalize() {
-	return length;
-}
- 
-void vector_3::normalize()
-{
 	float length = get_length();
 	x /= length;
 	y /= length;
 	z /= length;
 }
 
-void vector_3::apply_rotation(matrix_3x3 matrix)
+void vector_3::apply_rotation(matrix_3x3 matrix) {
-{
 	float resultX = x * matrix.matrix[3*0+0] + y * matrix.matrix[3*1+0] + z * matrix.matrix[3*2+0];
 	float resultY = x * matrix.matrix[3*0+1] + y * matrix.matrix[3*1+1] + z * matrix.matrix[3*2+1];
 	float resultZ = x * matrix.matrix[3*0+2] + y * matrix.matrix[3*1+2] + z * matrix.matrix[3*2+2];
-
 	x = resultX;
 	y = resultY;
 	z = resultZ;
 }
 
-void vector_3::debug(char* title)
+void vector_3::debug(char* title) {
-{
 	SERIAL_PROTOCOL(title);
 	SERIAL_PROTOCOLPGM(" x: ");
 	SERIAL_PROTOCOL_F(x, 6);
@@ -87,8 +70,7 @@ void vector_3::debug(char* title)
 	SERIAL_EOL;
 }
 
-void apply_rotation_xyz(matrix_3x3 matrix, float &x, float& y, float& z)
+void apply_rotation_xyz(matrix_3x3 matrix, float &x, float& y, float& z) {
-{
 	vector_3 vector = vector_3(x, y, z);
 	vector.apply_rotation(matrix);
 	x = vector.x;
@@ -96,48 +78,41 @@ void apply_rotation_xyz(matrix_3x3 matrix, float &x, float& y, float& z)
 	z = vector.z;
 }
 
-matrix_3x3 matrix_3x3::create_from_rows(vector_3 row_0, vector_3 row_1, vector_3 row_2)
+matrix_3x3 matrix_3x3::create_from_rows(vector_3 row_0, vector_3 row_1, vector_3 row_2) {
-{
+  //row_0.debug("row_0");
-        //row_0.debug("row_0");
+  //row_1.debug("row_1");
-        //row_1.debug("row_1");
+  //row_2.debug("row_2");
-        //row_2.debug("row_2");
 	matrix_3x3 new_matrix;
 	new_matrix.matrix[0] = row_0.x; new_matrix.matrix[1] = row_0.y; new_matrix.matrix[2] = row_0.z; 
 	new_matrix.matrix[3] = row_1.x; new_matrix.matrix[4] = row_1.y; new_matrix.matrix[5] = row_1.z; 
 	new_matrix.matrix[6] = row_2.x; new_matrix.matrix[7] = row_2.y; new_matrix.matrix[8] = row_2.z; 
-        //new_matrix.debug("new_matrix");
+  //new_matrix.debug("new_matrix");
-        
 	return new_matrix;
 }
 
-void matrix_3x3::set_to_identity()
+void matrix_3x3::set_to_identity() {
-{
 	matrix[0] = 1; matrix[1] = 0; matrix[2] = 0;
 	matrix[3] = 0; matrix[4] = 1; matrix[5] = 0;
 	matrix[6] = 0; matrix[7] = 0; matrix[8] = 1;
 }
 
-matrix_3x3 matrix_3x3::create_look_at(vector_3 target)
+matrix_3x3 matrix_3x3::create_look_at(vector_3 target) {
-{
+  vector_3 z_row = target.get_normal();
-    vector_3 z_row = target.get_normal();
+  vector_3 x_row = vector_3(1, 0, -target.x/target.z).get_normal();
-    vector_3 x_row = vector_3(1, 0, -target.x/target.z).get_normal();
+  vector_3 y_row = vector_3::cross(z_row, x_row).get_normal();
-    vector_3 y_row = vector_3::cross(z_row, x_row).get_normal();
 
-   // x_row.debug("x_row");
+  // x_row.debug("x_row");
-   // y_row.debug("y_row");
+  // y_row.debug("y_row");
-   // z_row.debug("z_row");
+  // z_row.debug("z_row");
 
- 
+  // create the matrix already correctly transposed
-     // create the matrix already correctly transposed
+  matrix_3x3 rot = matrix_3x3::create_from_rows(x_row, y_row, z_row);
-    matrix_3x3 rot = matrix_3x3::create_from_rows(x_row, y_row, z_row);
 
- //   rot.debug("rot");
+  // rot.debug("rot");
-    return rot;
+  return rot;
 }
 
-
+matrix_3x3 matrix_3x3::transpose(matrix_3x3 original) {
-matrix_3x3 matrix_3x3::transpose(matrix_3x3 original)
-{
   matrix_3x3 new_matrix;
   new_matrix.matrix[0] = original.matrix[0]; new_matrix.matrix[1] = original.matrix[3]; new_matrix.matrix[2] = original.matrix[6]; 
   new_matrix.matrix[3] = original.matrix[1]; new_matrix.matrix[4] = original.matrix[4]; new_matrix.matrix[5] = original.matrix[7]; 
@@ -150,6 +125,7 @@ void matrix_3x3::debug(char* title) {
   int count = 0;
   for(int i=0; i<3; i++) {
     for(int j=0; j<3; j++) {
+      if (matrix[count] >= 0.0) SERIAL_PROTOCOLPGM("+");
       SERIAL_PROTOCOL_F(matrix[count], 6);
       SERIAL_PROTOCOLPGM(" ");
       count++;
@@ -158,5 +134,5 @@ void matrix_3x3::debug(char* title) {
   }
 }
 
-#endif // #ifdef ENABLE_AUTO_BED_LEVELING
+#endif // ENABLE_AUTO_BED_LEVELING