fix helixline's CPM

primitive_process/src/helixline.cpp

@@ -118,6 +118,7 @@ helixline::helixline(helixline_descriptor_t
 
     const auto line_theta_r   = this->total_theta * this->radius;
     const auto inv_line_theta = 1. / this->total_theta;
+    const auto height_2       = this->height * this->height;
     const auto t_intersect    = std::sqrt((theta_intersect * theta_intersect * this->radius * this->radius + h_p * h_p)
                                        / (line_theta_r * line_theta_r + this->height * this->height));
 
@@ -133,15 +134,15 @@ helixline::helixline(helixline_descriptor_t
     {
         const auto                             alpha = this->total_theta * this->radius * r_p;
         std::vector<std::pair<double, double>> peak_values(rounded_times_end - rounded_times_start + 1 + 2);
-        peak_values.front() = {.0, -line_theta_r * r_p * std::sin(theta_p) - h_p};
-        peak_values.back()  = {1., line_theta_r * r_p * std::sin(this->total_theta - theta_p) + this->height - h_p};
+        peak_values.front() = {.0, -alpha * std::sin(theta_p) - h_p * this->height};
+        peak_values.back()  = {1., alpha * std::sin(this->total_theta - theta_p) + height_2 - h_p * this->height};
         algorithm::transform(counting_iterator<size_t>(rounded_times_start),
                              counting_iterator<size_t>(rounded_times_end + 1),
                              peak_values.begin() + 1,
                              [&](size_t k_) -> std::pair<double, double> {
                                  const auto t = (theta_p + PI2 + k_ * PI) * inv_line_theta;
                                  return {std::move(t),
-                                         alpha * std::sin(t * this->total_theta - theta_p) + t * this->height - h_p};
+                                         alpha * std::sin(t * this->total_theta - theta_p) + t * height_2 - h_p * this->height};
                              });
         peak_value_param = algorithm::transform_reduce(
             counting_iterator<size_t>{},
@@ -175,10 +176,10 @@ helixline::helixline(helixline_descriptor_t
         const auto alpha       = this->total_theta * this->radius * r_p;
         const auto alpha_deriv = alpha * this->total_theta;
         while (std::abs(delta_t) >= EPSILON) {
-            // origin equation: f(t)=theta_all*r_all*r_p*sin(t*theta_all-theta_p)+t*height_all-h_p=0
-            // derivative: f'(t)=theta_all^2*r_all*r_p*cos(t*theta_all-theta_p)+height_all=0
-            const auto f        = alpha * std::sin(t * this->total_theta - theta_p) + t * this->height - h_p;
-            const auto f_deriv  = alpha_deriv * std::cos(t * this->total_theta - theta_p) + this->height;
+            // origin equation: f(t)=theta_all*r_all*r_p*sin(t*theta_all-theta_p)+t*height_all*height_all-h_p*height_all=0
+            // derivative: f'(t)=theta_all^2*r_all*r_p*cos(t*theta_all-theta_p)+height_all*height_all=0
+            const auto f        = alpha * std::sin(t * this->total_theta - theta_p) + t * height_2 - h_p * this->height;
+            const auto f_deriv  = alpha_deriv * std::cos(t * this->total_theta - theta_p) + height_2;
             delta_t             = f / f_deriv;
             t                  -= delta_t;
         }