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kinematics: let a module report where the tool points
- #4455
#4455
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BsAtHome
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LinuxCNC:master
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grandixximo:kins-tool-frame
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Sep 13, 2026
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kinematics: let a module report where the tool points
#4455
BsAtHome
merged 13 commits into
LinuxCNC:master
LinuxCNC/linuxcnc:master
from
grandixximo:kins-tool-frame
grandixximo/linuxcnc:kins-tool-frame
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Commits on Aug 29, 2026
docs: add a kinematics conventions chapter
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kinematics: add optional work frame and tool frame entry points
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trtfuncs: supply the work and tool frames for xyzac and xyzbc
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trivkins: supply the work and tool frames
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xyzacb_trsrn, xyzbca_trsrn: supply the work and tool frames
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pumakins: supply the work and tool frames
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tests: cover the frame helpers
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Commits on Sep 5, 2026
kinematics: answer which joints point the tool somewhere
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trsrn: set the kinematics pins up once, at load
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tests: check the shipped frame functions where they run
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kinematics: the tool frame is the joints' alone
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kinematics: let the caller hold joints in the tool frame inverse
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kinematics: take the tool frame inverse request as a program writes it
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