On 10/24/2013 1:23 PM, Robert Ellenberg wrote: > Hi All, > > Many posemath functions (like pmCartCartDot, for example) pass compound > data types like PmCartesion and PmPose by value. Is there a specific reason > for this design choice? > >
Robert: The posemath library predates LinuxCNC by a number of years. It was written at NIST to support the Realtime Control System (RCS) program and got grandfathered into EMC -> EMC2 -> LinuxCNC. I expect you've read http://www.isd.mel.nist.gov/projects/rcslib/posemathdoc/PoseMathCpp.htm (note it's link to "Karl Murphy's Posemath Examples" is broken. Try http://www.isd.mel.nist.gov/projects/rcslib/posemath_examples.html). So far as I know, Fred Proctor is still at NIST. He's the first person I'd ask for the history. When you're thinking of changing the functions, keep in mind that a lot of people out there have certain expectations concerning posemath since they've baked it into a number of projects, not only in LinuxCNC but elsewhere. Several years ago, someone on these lists complained that some of the functions in posemath are stubbed out. Because of a project I was thinking about at the time, I jumped in, confident I could flesh these out. I got cold feet for various reasons including dealing with corner cases, and of course, wondering if my code had to be thread-safe. Keep up the good work! Some of us are following your messages silently but enthusiastically. Regards, Kent ------------------------------------------------------------------------------ October Webinars: Code for Performance Free Intel webinars can help you accelerate application performance. Explore tips for MPI, OpenMP, advanced profiling, and more. Get the most from the latest Intel processors and coprocessors. See abstracts and register > http://pubads.g.doubleclick.net/gampad/clk?id=60135991&iu=/4140/ostg.clktrk _______________________________________________ Emc-developers mailing list [email protected] https://lists.sourceforge.net/lists/listinfo/emc-developers
