fix bug of G53.1 and remove NcEnv.SetToolHeightCompensationOnFeatureNormal property.
This commit is contained in:
@@ -102,7 +102,7 @@ Class XyzabcSolver
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<div class="markdown conceptual"></div>
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<div class="codewrapper">
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<pre><code class="lang-csharp hljs">public class XyzabcSolver : ICoordinateConverter</code></pre>
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<pre><code class="lang-csharp hljs">public class XyzabcSolver : IMachineKinematics</code></pre>
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</div>
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@@ -119,7 +119,7 @@ Class XyzabcSolver
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<dl class="typelist implements">
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<dt>Implements</dt>
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<dd>
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<div><a class="xref" href="Hi.Numerical.Xyzabc.ICoordinateConverter.html">ICoordinateConverter</a></div>
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<div><a class="xref" href="Hi.Numerical.Xyzabc.IMachineKinematics.html">IMachineKinematics</a></div>
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</dd>
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</dl>
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@@ -221,48 +221,6 @@ Class XyzabcSolver
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</h2>
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<a id="Hi_Numerical_Xyzabc_XyzabcSolver_AttacherNpToMc_" data-uid="Hi.Numerical.Xyzabc.XyzabcSolver.AttacherNpToMc*"></a>
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<h3 id="Hi_Numerical_Xyzabc_XyzabcSolver_AttacherNpToMc_Hi_Geom_DVec3d_Hi_Geom_DVec3d__" data-uid="Hi.Numerical.Xyzabc.XyzabcSolver.AttacherNpToMc(Hi.Geom.DVec3d,Hi.Geom.DVec3d@)">
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AttacherNpToMc(DVec3d, out DVec3d)
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</h3>
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<div class="markdown level1 summary"><p>tool attacher NP (Normal and Point) to machine coordinate.
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The NP is from table buckle to tool attacher.</p>
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</div>
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<div class="markdown level1 conceptual"></div>
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<div class="codewrapper">
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<pre><code class="lang-csharp hljs">public bool AttacherNpToMc(DVec3d np, out DVec3d mcXyzabc_rad)</code></pre>
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</div>
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<h4 class="section">Parameters</h4>
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<dl class="parameters">
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<dt><code>np</code> <a class="xref" href="Hi.Geom.DVec3d.html">DVec3d</a></dt>
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<dd></dd>
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<dt><code>mcXyzabc_rad</code> <a class="xref" href="Hi.Geom.DVec3d.html">DVec3d</a></dt>
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<dd><p>machine coordinate (ABC in radian)</p>
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</dd>
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</dl>
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<h4 class="section">Returns</h4>
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<dl class="parameters">
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<dt><a class="xref" href="https://learn.microsoft.com/dotnet/api/system.boolean">bool</a></dt>
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<dd><p>whether conversion succeeded</p>
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</dd>
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</dl>
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<a id="Hi_Numerical_Xyzabc_XyzabcSolver_IsAxisAExisted_" data-uid="Hi.Numerical.Xyzabc.XyzabcSolver.IsAxisAExisted*"></a>
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<h3 id="Hi_Numerical_Xyzabc_XyzabcSolver_IsAxisAExisted" data-uid="Hi.Numerical.Xyzabc.XyzabcSolver.IsAxisAExisted">
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@@ -362,10 +320,10 @@ The NP is from table buckle to tool attacher.</p>
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<a id="Hi_Numerical_Xyzabc_XyzabcSolver_McAbcToTiltMat_" data-uid="Hi.Numerical.Xyzabc.XyzabcSolver.McAbcToTiltMat*"></a>
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<a id="Hi_Numerical_Xyzabc_XyzabcSolver_McAbcToMat_" data-uid="Hi.Numerical.Xyzabc.XyzabcSolver.McAbcToMat*"></a>
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<h3 id="Hi_Numerical_Xyzabc_XyzabcSolver_McAbcToTiltMat_Hi_Geom_Vec3d_" data-uid="Hi.Numerical.Xyzabc.XyzabcSolver.McAbcToTiltMat(Hi.Geom.Vec3d)">
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McAbcToTiltMat(Vec3d)
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<h3 id="Hi_Numerical_Xyzabc_XyzabcSolver_McAbcToMat_Hi_Geom_Vec3d_" data-uid="Hi.Numerical.Xyzabc.XyzabcSolver.McAbcToMat(Hi.Geom.Vec3d)">
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McAbcToMat(Vec3d)
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</h3>
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@@ -375,7 +333,7 @@ the tilt matrix is the transformation matrix from table to attacher.</p>
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<div class="markdown level1 conceptual"></div>
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<div class="codewrapper">
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<pre><code class="lang-csharp hljs">public Mat4d McAbcToTiltMat(Vec3d mcAbc_rad)</code></pre>
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<pre><code class="lang-csharp hljs">public Mat4d McAbcToMat(Vec3d mcAbc_rad)</code></pre>
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</div>
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<h4 class="section">Parameters</h4>
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@@ -402,10 +360,10 @@ the tilt matrix is the transformation matrix from table to attacher.</p>
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<a id="Hi_Numerical_Xyzabc_XyzabcSolver_McToAttacherMat_" data-uid="Hi.Numerical.Xyzabc.XyzabcSolver.McToAttacherMat*"></a>
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<a id="Hi_Numerical_Xyzabc_XyzabcSolver_McToMat_" data-uid="Hi.Numerical.Xyzabc.XyzabcSolver.McToMat*"></a>
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<h3 id="Hi_Numerical_Xyzabc_XyzabcSolver_McToAttacherMat_Hi_Geom_DVec3d_" data-uid="Hi.Numerical.Xyzabc.XyzabcSolver.McToAttacherMat(Hi.Geom.DVec3d)">
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McToAttacherMat(DVec3d)
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<h3 id="Hi_Numerical_Xyzabc_XyzabcSolver_McToMat_Hi_Geom_DVec3d_" data-uid="Hi.Numerical.Xyzabc.XyzabcSolver.McToMat(Hi.Geom.DVec3d)">
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McToMat(DVec3d)
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</h3>
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@@ -414,7 +372,7 @@ the tilt matrix is the transformation matrix from table to attacher.</p>
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<div class="markdown level1 conceptual"></div>
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<div class="codewrapper">
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<pre><code class="lang-csharp hljs">public Mat4d McToAttacherMat(DVec3d mc)</code></pre>
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<pre><code class="lang-csharp hljs">public Mat4d McToMat(DVec3d mc)</code></pre>
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</div>
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<h4 class="section">Parameters</h4>
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@@ -440,20 +398,20 @@ the tilt matrix is the transformation matrix from table to attacher.</p>
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<a id="Hi_Numerical_Xyzabc_XyzabcSolver_McToAttacherNp_" data-uid="Hi.Numerical.Xyzabc.XyzabcSolver.McToAttacherNp*"></a>
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<a id="Hi_Numerical_Xyzabc_XyzabcSolver_McToPn_" data-uid="Hi.Numerical.Xyzabc.XyzabcSolver.McToPn*"></a>
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<h3 id="Hi_Numerical_Xyzabc_XyzabcSolver_McToAttacherNp_Hi_Geom_DVec3d_" data-uid="Hi.Numerical.Xyzabc.XyzabcSolver.McToAttacherNp(Hi.Geom.DVec3d)">
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McToAttacherNp(DVec3d)
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<h3 id="Hi_Numerical_Xyzabc_XyzabcSolver_McToPn_Hi_Geom_DVec3d_" data-uid="Hi.Numerical.Xyzabc.XyzabcSolver.McToPn(Hi.Geom.DVec3d)">
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McToPn(DVec3d)
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</h3>
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<div class="markdown level1 summary"><p>Machine coordinate to tool attacher NP (Normal and Point).
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The NP is from table buckle to tool attacher.</p>
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<div class="markdown level1 summary"><p>Machine coordinate to tool attacher Pn (Point and Normal).
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The Pn is from table buckle to tool attacher.</p>
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</div>
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<div class="markdown level1 conceptual"></div>
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<div class="codewrapper">
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<pre><code class="lang-csharp hljs">public DVec3d McToAttacherNp(DVec3d mc)</code></pre>
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<pre><code class="lang-csharp hljs">public DVec3d McToPn(DVec3d mc)</code></pre>
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</div>
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<h4 class="section">Parameters</h4>
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@@ -465,7 +423,93 @@ The NP is from table buckle to tool attacher.</p>
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<h4 class="section">Returns</h4>
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<dl class="parameters">
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<dt><a class="xref" href="Hi.Geom.DVec3d.html">DVec3d</a></dt>
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<dd><p>tool attacher Np (Normal and Point)</p>
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<dd><p>tool attacher Pn (Point and Normal)</p>
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</dd>
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</dl>
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<a id="Hi_Numerical_Xyzabc_XyzabcSolver_OrientationToMcAbc_" data-uid="Hi.Numerical.Xyzabc.XyzabcSolver.OrientationToMcAbc*"></a>
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<h3 id="Hi_Numerical_Xyzabc_XyzabcSolver_OrientationToMcAbc_Hi_Geom_Mat4d_Hi_Geom_Vec3d__" data-uid="Hi.Numerical.Xyzabc.XyzabcSolver.OrientationToMcAbc(Hi.Geom.Mat4d,Hi.Geom.Vec3d@)">
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OrientationToMcAbc(Mat4d, out Vec3d)
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</h3>
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<div class="markdown level1 summary"><p>Converts a tilt matrix to machine ABC coordinates.
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the tilt matrix is the transformation matrix from table to attacher.
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the solution only fit the orientation part of the <code class="paramref">tiltMat</code>.</p>
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</div>
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<div class="markdown level1 conceptual"></div>
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<div class="codewrapper">
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<pre><code class="lang-csharp hljs">public bool OrientationToMcAbc(Mat4d tiltMat, out Vec3d mcAbc_rad)</code></pre>
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</div>
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<h4 class="section">Parameters</h4>
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<dl class="parameters">
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<dt><code>tiltMat</code> <a class="xref" href="Hi.Geom.Mat4d.html">Mat4d</a></dt>
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<dd><p>The tilt matrix to convert</p>
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</dd>
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<dt><code>mcAbc_rad</code> <a class="xref" href="Hi.Geom.Vec3d.html">Vec3d</a></dt>
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<dd><p>Output parameter that will contain the machine ABC coordinates in radians</p>
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</dd>
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</dl>
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<h4 class="section">Returns</h4>
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<dl class="parameters">
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<dt><a class="xref" href="https://learn.microsoft.com/dotnet/api/system.boolean">bool</a></dt>
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<dd><p>Whether the conversion was successful</p>
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</dd>
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</dl>
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<a id="Hi_Numerical_Xyzabc_XyzabcSolver_PnToMc_" data-uid="Hi.Numerical.Xyzabc.XyzabcSolver.PnToMc*"></a>
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<h3 id="Hi_Numerical_Xyzabc_XyzabcSolver_PnToMc_Hi_Geom_DVec3d_Hi_Geom_DVec3d__" data-uid="Hi.Numerical.Xyzabc.XyzabcSolver.PnToMc(Hi.Geom.DVec3d,Hi.Geom.DVec3d@)">
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PnToMc(DVec3d, out DVec3d)
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</h3>
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<div class="markdown level1 summary"><p>Tool attacher Pn (Point and Normal) to machine coordinate.
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The Pn is from table buckle to tool attacher.</p>
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</div>
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<div class="markdown level1 conceptual"></div>
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<div class="codewrapper">
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<pre><code class="lang-csharp hljs">public bool PnToMc(DVec3d np, out DVec3d mcXyzabc_rad)</code></pre>
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</div>
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<h4 class="section">Parameters</h4>
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<dl class="parameters">
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<dt><code>np</code> <a class="xref" href="Hi.Geom.DVec3d.html">DVec3d</a></dt>
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<dd></dd>
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<dt><code>mcXyzabc_rad</code> <a class="xref" href="Hi.Geom.DVec3d.html">DVec3d</a></dt>
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<dd><p>machine coordinate (ABC in radian)</p>
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</dd>
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</dl>
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<h4 class="section">Returns</h4>
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<dl class="parameters">
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<dt><a class="xref" href="https://learn.microsoft.com/dotnet/api/system.boolean">bool</a></dt>
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<dd><p>whether conversion succeeded</p>
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</dd>
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</dl>
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@@ -548,49 +592,6 @@ It should be called after the kinematic chain of <span class="xref">Hi.Numerical
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<a id="Hi_Numerical_Xyzabc_XyzabcSolver_TiltMatToMcAbc_" data-uid="Hi.Numerical.Xyzabc.XyzabcSolver.TiltMatToMcAbc*"></a>
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<h3 id="Hi_Numerical_Xyzabc_XyzabcSolver_TiltMatToMcAbc_Hi_Geom_Mat4d_Hi_Geom_Vec3d__" data-uid="Hi.Numerical.Xyzabc.XyzabcSolver.TiltMatToMcAbc(Hi.Geom.Mat4d,Hi.Geom.Vec3d@)">
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TiltMatToMcAbc(Mat4d, out Vec3d)
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</h3>
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<div class="markdown level1 summary"><p>Converts a tilt matrix to machine ABC coordinates.
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the tilt matrix is the transformation matrix from table to attacher.</p>
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</div>
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<div class="markdown level1 conceptual"></div>
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<div class="codewrapper">
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<pre><code class="lang-csharp hljs">public bool TiltMatToMcAbc(Mat4d tiltMat, out Vec3d mcAbc_rad)</code></pre>
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</div>
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<h4 class="section">Parameters</h4>
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<dl class="parameters">
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<dt><code>tiltMat</code> <a class="xref" href="Hi.Geom.Mat4d.html">Mat4d</a></dt>
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<dd><p>The tilt matrix to convert</p>
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</dd>
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<dt><code>mcAbc_rad</code> <a class="xref" href="Hi.Geom.Vec3d.html">Vec3d</a></dt>
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<dd><p>Output parameter that will contain the machine ABC coordinates in radians</p>
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</dd>
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</dl>
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<h4 class="section">Returns</h4>
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<dl class="parameters">
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<dt><a class="xref" href="https://learn.microsoft.com/dotnet/api/system.boolean">bool</a></dt>
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<dd><p>Whether the conversion was successful</p>
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</dd>
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</dl>
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</article>
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