motion/control: guard jerk decomposition for identity kinematics only#3890
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grandixximo wants to merge 1 commit intoLinuxCNC:masterfrom
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motion/control: guard jerk decomposition for identity kinematics only#3890grandixximo wants to merge 1 commit intoLinuxCNC:masterfrom
grandixximo wants to merge 1 commit intoLinuxCNC:masterfrom
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The S-curve jerk decomposition assumed joint[0,1,2] = X,Y,Z, which is only true for identity kinematics. For KINEMATICS_BOTH (e.g. XXYYYZ or rotatekins) joint indices don't map to axis letters, making the decomposition incorrect. Guard with KINEMATICS_IDENTITY check so non-trivial kinematics fall back to cubic interpolator jerk values.
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The S-curve jerk decomposition assumed joint[0,1,2] = X,Y,Z, which is only true for identity kinematics. For KINEMATICS_BOTH (e.g. XXYYYZ or rotatekins) joint indices don't map to axis letters, making the decomposition incorrect. Guard with KINEMATICS_IDENTITY check so non-trivial kinematics fall back to cubic interpolator jerk values.
This was mentioned in my 9d PR #3807
but it is already in master, so it should get a fix with this PR