Feature Request - Custom Kinematics

I don’t know the best way to implement this, but when building a non-standard printer it would be nice to be able to input the details of the kinematics without needing a pre-made kinematic… module? (whatever it’s called)

Specifically, I’m making a DuoRail. I’ve not gotten to the firmware yet so I haven’t tried it, but he says RepRap is already capable of running it because they have a matrix implementation of custom kinematics (example). Not all kinematics will be doable in such an elegant way (anything non-linear like a SCARA or Delta I don’t think would work with this method), but this matrix notation would cover a lot of custom builds.

Alternatively, if there’s a way to work out the math of the kinematics and be able to put that into a custom kinematics module that would also be a good implementation.