Vismach - understand lineardelta

Hello,

I am trying understand how work Vismach lineardelta.
 
Sorry for the basic questions, but I'm just a hobbyist programmer. I can do a bit with C and struggle with Python.

The main file is in python:
github.com/LinuxCNC/linuxcnc/blob/2.9/sr...smach/lineardelta.py
Tthere aren't many comments in this file.

It imports lineardeltakins:
So it use header file:
github.com/LinuxCNC/linuxcnc/blob/2.9/sr...ardeltakins-common.h
?

Why exist 2 files lineardeltakins ?
First in C:
github.com/LinuxCNC/linuxcnc/blob/2.9/sr...cs/lineardeltakins.c
Second in C++:
github.com/LinuxCNC/linuxcnc/blob/2.9/sr...s/lineardeltakins.cc
Which file does lineardelta.py use?


 

The C++ module links to Boost Python and I think that means that it is creating a module that Python can import, so that is the file imported by the Python.

The C file is what the actual motion planner uses.

Both files (or, I suppose, all three) use the calculations in the lineardeltakins-common.h file, which makes sense as they need to behave identically.