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@@ -349,8 +349,8 @@ class Planner {
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FORCE_INLINE static void skew(float &cx, float &cy, const float &cz) {
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if (WITHIN(cx, X_MIN_POS + 1, X_MAX_POS) && WITHIN(cy, Y_MIN_POS + 1, Y_MAX_POS)) {
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- const float sx = cx - (cy * xy_skew_factor) - (cz * (xz_skew_factor - (xy_skew_factor * yz_skew_factor))),
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- sy = cy - (cz * yz_skew_factor);
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+ const float sx = cx - cy * xy_skew_factor - cz * (xz_skew_factor - (xy_skew_factor * yz_skew_factor)),
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+ sy = cy - cz * yz_skew_factor;
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if (WITHIN(sx, X_MIN_POS, X_MAX_POS) && WITHIN(sy, Y_MIN_POS, Y_MAX_POS)) {
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cx = sx; cy = sy;
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}
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@@ -359,7 +359,7 @@ class Planner {
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FORCE_INLINE static void unskew(float &cx, float &cy, const float &cz) {
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if (WITHIN(cx, X_MIN_POS, X_MAX_POS) && WITHIN(cy, Y_MIN_POS, Y_MAX_POS)) {
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- const float sx = cx + cy * xy_skew_factor + cz * xz_skew_factor,
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+ const float sx = cx + cy * xy_skew_factor + cz * (xz_skew_factor - (xy_skew_factor * yz_skew_factor)),
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sy = cy + cz * yz_skew_factor;
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if (WITHIN(sx, X_MIN_POS, X_MAX_POS) && WITHIN(sy, Y_MIN_POS, Y_MAX_POS)) {
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cx = sx; cy = sy;
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