fix remaining flat includes in motion_planning: blendmath.h and motion_types.h

blendmath.h is in emc/tp/, motion_types.h is in emc/motion/ — both need
qualified paths when compiled without -Iemc/tp or -Iemc/motion in scope.

Author: grandixximo

src/emc/motion_planning/bezier9.cc

@@ -2,7 +2,7 @@
 #include "../tp/tp_types.h"
 #include "../tp/tp_debug.h"
 #include "posemath.h"
-#include "blendmath.h"
+#include "../tp/blendmath.h"
 #include "rtapi_math.h"
 #include <math.h>
 

src/emc/motion_planning/blend_sizing.cc

@@ -17,7 +17,7 @@ extern "C" {
 #include "../tp/tp_types.h"
 #include "../tp/tp_debug.h"
 #include "../tp/tc.h"
-#include "blendmath.h"
+#include "../tp/blendmath.h"
 #include "emcpose.h"
 #include "rtapi_math.h"
 }

src/emc/motion_planning/motion_planning_9d.cc

@@ -25,7 +25,7 @@
 #include "../motion/atomic_9d.h"
 #include "posemath.h"
 #include "rtapi.h"            // For rtapi_print_msg
-#include "motion_types.h"     // For EMC_MOTION_TYPE_TRAVERSE
+#include <motion_types.h>         // For EMC_MOTION_TYPE_TRAVERSE
 #include <ruckig/ruckig.hpp>   // Ruckig integration
 
 #include <algorithm>

src/emc/motion_planning/motion_planning_9d_stubs.c

@@ -8,6 +8,6 @@
  */
 
 #include <stddef.h>
-#include "motion.h"
+#include "motion/motion.h"
 
 /* emcmotStatus and other globals are now provided by tp.c */

src/emc/motion_planning/motion_planning_9d_userspace.cc

@@ -28,9 +28,9 @@ extern "C" {
 #include "emcpos.h"
 #include "emcpose.h"    // pmCartesianToEmcPose
 #include "posemath.h"
-#include "blendmath.h"  // pmCircleEffectiveMinRadius, findIntersectionAngle
+#include "../tp/blendmath.h"  // pmCircleEffectiveMinRadius, findIntersectionAngle
 #include "../motion/atomic_9d.h"  // atomicStoreDouble
-#include "motion_types.h" // EMC_MOTION_TYPE_TRAVERSE
+#include <motion_types.h>         // EMC_MOTION_TYPE_TRAVERSE
 }
 
 // External queue functions (from motion_planning_9d.cc - will be made public)

src/emc/motion_planning/path_sampler.cc

@@ -15,7 +15,7 @@
 #include <algorithm>
 
 extern "C" {
-#include "blendmath.h"  // For pmCircleAngleFromProgress, pmCirclePoint
+#include "../tp/blendmath.h"  // For pmCircleAngleFromProgress, pmCirclePoint
 #include "../tp/tc.h"   // For pmCircle9Target, pmCartLinePoint
 #include "bezier9.h"    // For bezier9Point, bezier9Length
 }

src/emc/motion_planning/userspace_kinematics.cc

@@ -16,13 +16,13 @@
 #include <vector>
 
 extern "C" {
-#include "blendmath.h"  // For pmCircleEffectiveMinRadius
+#include "../tp/blendmath.h"  // For pmCircleEffectiveMinRadius
 }
 
 // Include inihal for access to current joint limits (reflects HAL pin changes)
 // The old_inihal_data structure is updated by inihal.cc when HAL pins change
 // (ini.N.max_velocity, ini.N.max_limit, etc.)
-#include "inihal.hh"
+#include "../ini/inihal.hh"
 extern value_inihal_data old_inihal_data;
 
 namespace motion_planning {

src/emc/tp/tcq.c

@@ -18,7 +18,7 @@
  ********************************************************************/
 
 #include <stddef.h>
-#include "motion.h"
+#include "../motion/motion.h"
 #include "../motion/atomic_9d.h"
 #include "rtapi.h"