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<title>Class NcKinematicsDependency | HiAPI-C# 2025 </title>
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<meta name="description" content="Provides as an for .. The actual kinematics instance is resolved at runtime via . This supports scenarios where the machine tool is loaded or changed after the runner is configured (e.g., XML config loaded first, kinematics assigned later). Consumed by , , and via dependencyList.OfType&amp;lt;IMachineKinematics&amp;gt;().">
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<article data-uid="Hi.NcParsers.Dependencys.Generic.NcKinematicsDependency">
<h1 id="Hi_NcParsers_Dependencys_Generic_NcKinematicsDependency" data-uid="Hi.NcParsers.Dependencys.Generic.NcKinematicsDependency" class="text-break">
Class NcKinematicsDependency
</h1>
<div class="facts text-secondary">
<dl><dt>Namespace</dt><dd><a class="xref" href="Hi.html">Hi</a>.<a class="xref" href="Hi.NcParsers.html">NcParsers</a>.<a class="xref" href="Hi.NcParsers.Dependencys.html">Dependencys</a>.<a class="xref" href="Hi.NcParsers.Dependencys.Generic.html">Generic</a></dd></dl>
<dl><dt>Assembly</dt><dd>HiMech.dll</dd></dl>
</div>
<div class="markdown summary"><p>Provides <a class="xref" href="Hi.Numerical.Xyzabc.IMachineKinematics.html">IMachineKinematics</a> as an <a class="xref" href="Hi.NcParsers.Dependencys.INcDependency.html">INcDependency</a>
for <a class="xref" href="Hi.NcParsers.SoftNcRunner.html">SoftNcRunner</a>.<a class="xref" href="Hi.NcParsers.SoftNcRunner.html#Hi_NcParsers_SoftNcRunner_NcDependencyList">NcDependencyList</a>.</p>
<p>
The actual kinematics instance is resolved at runtime via
<a class="xref" href="Hi.NcParsers.Dependencys.Generic.NcKinematicsDependency.html#Hi_NcParsers_Dependencys_Generic_NcKinematicsDependency_KinematicsProvider">KinematicsProvider</a>. This supports scenarios where
the machine tool is loaded or changed after the runner is configured
(e.g., XML config loaded first, kinematics assigned later).
</p>
<p>
Consumed by <a class="xref" href="Hi.NcParsers.LogicSyntaxs.G53p1RotaryPositionSyntax.html">G53p1RotaryPositionSyntax</a>,
<a class="xref" href="Hi.NcParsers.LogicSyntaxs.IsoG68p2TiltSyntax.html">IsoG68p2TiltSyntax</a>, and
<a class="xref" href="Hi.NcParsers.Semantics.McLinearMotionSemantic.html">McLinearMotionSemantic</a> via
<code>dependencyList.OfType&lt;IMachineKinematics&gt;()</code>.
</p>
</div>
<div class="markdown conceptual"></div>
<div class="codewrapper">
<pre><code class="lang-csharp hljs">public class NcKinematicsDependency : INcDependency, IMakeXmlSource, IMachineKinematics</code></pre>
</div>
<dl class="typelist inheritance">
<dt>Inheritance</dt>
<dd>
<div><a class="xref" href="https://learn.microsoft.com/dotnet/api/system.object">object</a></div>
<div><span class="xref">NcKinematicsDependency</span></div>
</dd>
</dl>
<dl class="typelist implements">
<dt>Implements</dt>
<dd>
<div><a class="xref" href="Hi.NcParsers.Dependencys.INcDependency.html">INcDependency</a></div>
<div><a class="xref" href="Hi.Common.XmlUtils.IMakeXmlSource.html">IMakeXmlSource</a></div>
<div><a class="xref" href="Hi.Numerical.Xyzabc.IMachineKinematics.html">IMachineKinematics</a></div>
</dd>
</dl>
<dl class="typelist inheritedMembers">
<dt>Inherited Members</dt>
<dd>
<div>
<a class="xref" href="https://learn.microsoft.com/dotnet/api/system.object.equals#system-object-equals(system-object)">object.Equals(object)</a>
</div>
<div>
<a class="xref" href="https://learn.microsoft.com/dotnet/api/system.object.equals#system-object-equals(system-object-system-object)">object.Equals(object, object)</a>
</div>
<div>
<a class="xref" href="https://learn.microsoft.com/dotnet/api/system.object.gethashcode">object.GetHashCode()</a>
</div>
<div>
<a class="xref" href="https://learn.microsoft.com/dotnet/api/system.object.gettype">object.GetType()</a>
</div>
<div>
<a class="xref" href="https://learn.microsoft.com/dotnet/api/system.object.memberwiseclone">object.MemberwiseClone()</a>
</div>
<div>
<a class="xref" href="https://learn.microsoft.com/dotnet/api/system.object.referenceequals">object.ReferenceEquals(object, object)</a>
</div>
<div>
<a class="xref" href="https://learn.microsoft.com/dotnet/api/system.object.tostring">object.ToString()</a>
</div>
</dd></dl>
<dl class="typelist extensionMethods">
<dt>Extension Methods</dt>
<dd>
<div>
<a class="xref" href="Hi.Common.DuplicateUtil.html#Hi_Common_DuplicateUtil_TryDuplicate__1___0_System_Object___">DuplicateUtil.TryDuplicate&lt;TSelf&gt;(TSelf, params object[])</a>
</div>
<div>
<a class="xref" href="Hi.Common.InvokeUtil.html#Hi_Common_InvokeUtil_SelfInvoke__1___0_System_Action___0__">InvokeUtil.SelfInvoke&lt;TSrc&gt;(TSrc, Action&lt;TSrc&gt;)</a>
</div>
<div>
<a class="xref" href="Hi.Common.InvokeUtil.html#Hi_Common_InvokeUtil_SelfInvoke__2___0_System_Func___0___1__">InvokeUtil.SelfInvoke&lt;TSrc, TDst&gt;(TSrc, Func&lt;TSrc, TDst&gt;)</a>
</div>
<div>
<a class="xref" href="Hi.Coloring.ColorUtil.html#Hi_Coloring_ColorUtil_GetGloomyColor_System_Object_System_Double_System_Double_">ColorUtil.GetGloomyColor(object, double, double)</a>
</div>
<div>
<a class="xref" href="Hi.Common.NameUtil.html#Hi_Common_NameUtil_GetSelectionName_System_Object_">NameUtil.GetSelectionName(object)</a>
</div>
<div>
<a class="xref" href="Hi.Common.StringUtil.html#Hi_Common_StringUtil_GetPropertyStringIfToStringNotOverloaded_System_Object_System_Boolean_System_Boolean_">StringUtil.GetPropertyStringIfToStringNotOverloaded(object, bool, bool)</a>
</div>
<div>
<a class="xref" href="Hi.Parallels.LockUtil.html#Hi_Parallels_LockUtil_Lock_System_Object_">LockUtil.Lock(object)</a>
</div>
</dd></dl>
<h2 class="section" id="constructors">Constructors
</h2>
<a id="Hi_NcParsers_Dependencys_Generic_NcKinematicsDependency__ctor_" data-uid="Hi.NcParsers.Dependencys.Generic.NcKinematicsDependency.#ctor*"></a>
<h3 id="Hi_NcParsers_Dependencys_Generic_NcKinematicsDependency__ctor" data-uid="Hi.NcParsers.Dependencys.Generic.NcKinematicsDependency.#ctor">
NcKinematicsDependency()
</h3>
<div class="markdown level1 summary"></div>
<div class="markdown level1 conceptual"></div>
<div class="codewrapper">
<pre><code class="lang-csharp hljs">public NcKinematicsDependency()</code></pre>
</div>
<a id="Hi_NcParsers_Dependencys_Generic_NcKinematicsDependency__ctor_" data-uid="Hi.NcParsers.Dependencys.Generic.NcKinematicsDependency.#ctor*"></a>
<h3 id="Hi_NcParsers_Dependencys_Generic_NcKinematicsDependency__ctor_System_Func_Hi_Numerical_Xyzabc_IMachineKinematics__" data-uid="Hi.NcParsers.Dependencys.Generic.NcKinematicsDependency.#ctor(System.Func{Hi.Numerical.Xyzabc.IMachineKinematics})">
NcKinematicsDependency(Func&lt;IMachineKinematics&gt;)
</h3>
<div class="markdown level1 summary"></div>
<div class="markdown level1 conceptual"></div>
<div class="codewrapper">
<pre><code class="lang-csharp hljs">public NcKinematicsDependency(Func&lt;IMachineKinematics&gt; provider)</code></pre>
</div>
<h4 class="section">Parameters</h4>
<dl class="parameters">
<dt><code>provider</code> <a class="xref" href="https://learn.microsoft.com/dotnet/api/system.func-1">Func</a>&lt;<a class="xref" href="Hi.Numerical.Xyzabc.IMachineKinematics.html">IMachineKinematics</a>&gt;</dt>
<dd></dd>
</dl>
<h2 class="section" id="properties">Properties
</h2>
<a id="Hi_NcParsers_Dependencys_Generic_NcKinematicsDependency_KinematicsProvider_" data-uid="Hi.NcParsers.Dependencys.Generic.NcKinematicsDependency.KinematicsProvider*"></a>
<h3 id="Hi_NcParsers_Dependencys_Generic_NcKinematicsDependency_KinematicsProvider" data-uid="Hi.NcParsers.Dependencys.Generic.NcKinematicsDependency.KinematicsProvider">
KinematicsProvider
</h3>
<div class="markdown level1 summary"><p>Runtime provider for the kinematics instance.
Null provider or null return means kinematics is not yet available.</p>
</div>
<div class="markdown level1 conceptual"></div>
<div class="codewrapper">
<pre><code class="lang-csharp hljs">public Func&lt;IMachineKinematics&gt; KinematicsProvider { get; set; }</code></pre>
</div>
<h4 class="section">Property Value</h4>
<dl class="parameters">
<dt><a class="xref" href="https://learn.microsoft.com/dotnet/api/system.func-1">Func</a>&lt;<a class="xref" href="Hi.Numerical.Xyzabc.IMachineKinematics.html">IMachineKinematics</a>&gt;</dt>
<dd></dd>
</dl>
<a id="Hi_NcParsers_Dependencys_Generic_NcKinematicsDependency_XName_" data-uid="Hi.NcParsers.Dependencys.Generic.NcKinematicsDependency.XName*"></a>
<h3 id="Hi_NcParsers_Dependencys_Generic_NcKinematicsDependency_XName" data-uid="Hi.NcParsers.Dependencys.Generic.NcKinematicsDependency.XName">
XName
</h3>
<div class="markdown level1 summary"></div>
<div class="markdown level1 conceptual"></div>
<div class="codewrapper">
<pre><code class="lang-csharp hljs">public static string XName { get; }</code></pre>
</div>
<h4 class="section">Property Value</h4>
<dl class="parameters">
<dt><a class="xref" href="https://learn.microsoft.com/dotnet/api/system.string">string</a></dt>
<dd></dd>
</dl>
<h2 class="section" id="methods">Methods
</h2>
<a id="Hi_NcParsers_Dependencys_Generic_NcKinematicsDependency_MakeXmlSource_" data-uid="Hi.NcParsers.Dependencys.Generic.NcKinematicsDependency.MakeXmlSource*"></a>
<h3 id="Hi_NcParsers_Dependencys_Generic_NcKinematicsDependency_MakeXmlSource_System_String_System_String_System_Boolean_" data-uid="Hi.NcParsers.Dependencys.Generic.NcKinematicsDependency.MakeXmlSource(System.String,System.String,System.Boolean)">
MakeXmlSource(string, string, bool)
</h3>
<div class="markdown level1 summary"><p>Creates an XML representation of the object.
This method may also generate additional resources such as related files.</p>
</div>
<div class="markdown level1 conceptual"></div>
<div class="codewrapper">
<pre><code class="lang-csharp hljs">public XElement MakeXmlSource(string baseDirectory, string relFile, bool exhibitionOnly)</code></pre>
</div>
<h4 class="section">Parameters</h4>
<dl class="parameters">
<dt><code>baseDirectory</code> <a class="xref" href="https://learn.microsoft.com/dotnet/api/system.string">string</a></dt>
<dd><p>The base directory for resolving relative paths</p>
</dd>
<dt><code>relFile</code> <a class="xref" href="https://learn.microsoft.com/dotnet/api/system.string">string</a></dt>
<dd><p>The relative file path for the XML source</p>
</dd>
<dt><code>exhibitionOnly</code> <a class="xref" href="https://learn.microsoft.com/dotnet/api/system.boolean">bool</a></dt>
<dd><p>if true, the extended file creation is suppressed.</p>
</dd>
</dl>
<h4 class="section">Returns</h4>
<dl class="parameters">
<dt><a class="xref" href="https://learn.microsoft.com/dotnet/api/system.xml.linq.xelement">XElement</a></dt>
<dd><p>An XML element representing the object's state</p>
</dd>
</dl>
<h4 class="section" id="Hi_NcParsers_Dependencys_Generic_NcKinematicsDependency_MakeXmlSource_System_String_System_String_System_Boolean__remarks">Remarks</h4>
<div class="markdown level1 remarks"><p>For the demand of easy moving source folder (especially project folder) without configuration file path corruption, the relative file path is applied.
The <code class="paramref">baseDirectory</code> is typically the folder at the nearest configuration file folder.
Since the folder can be moving with the configuration file.</p>
</div>
<a id="Hi_NcParsers_Dependencys_Generic_NcKinematicsDependency_McAbcToMat_" data-uid="Hi.NcParsers.Dependencys.Generic.NcKinematicsDependency.McAbcToMat*"></a>
<h3 id="Hi_NcParsers_Dependencys_Generic_NcKinematicsDependency_McAbcToMat_Hi_Geom_Vec3d_" data-uid="Hi.NcParsers.Dependencys.Generic.NcKinematicsDependency.McAbcToMat(Hi.Geom.Vec3d)">
McAbcToMat(Vec3d)
</h3>
<div class="markdown level1 summary"><p>Converts machine ABC coordinates to a tilt matrix.
the tilt matrix is the transformation matrix from table to attacher.</p>
</div>
<div class="markdown level1 conceptual"></div>
<div class="codewrapper">
<pre><code class="lang-csharp hljs">public Mat4d McAbcToMat(Vec3d mcAbc_rad)</code></pre>
</div>
<h4 class="section">Parameters</h4>
<dl class="parameters">
<dt><code>mcAbc_rad</code> <a class="xref" href="Hi.Geom.Vec3d.html">Vec3d</a></dt>
<dd><p>The machine ABC coordinates in radians</p>
</dd>
</dl>
<h4 class="section">Returns</h4>
<dl class="parameters">
<dt><a class="xref" href="Hi.Geom.Mat4d.html">Mat4d</a></dt>
<dd><p>The tilt matrix</p>
</dd>
</dl>
<a id="Hi_NcParsers_Dependencys_Generic_NcKinematicsDependency_McToMat_" data-uid="Hi.NcParsers.Dependencys.Generic.NcKinematicsDependency.McToMat*"></a>
<h3 id="Hi_NcParsers_Dependencys_Generic_NcKinematicsDependency_McToMat_Hi_Geom_DVec3d_" data-uid="Hi.NcParsers.Dependencys.Generic.NcKinematicsDependency.McToMat(Hi.Geom.DVec3d)">
McToMat(DVec3d)
</h3>
<div class="markdown level1 summary"><p>Converts machine coordinates to an attacher matrix.</p>
</div>
<div class="markdown level1 conceptual"></div>
<div class="codewrapper">
<pre><code class="lang-csharp hljs">public Mat4d McToMat(DVec3d mcXyzabc)</code></pre>
</div>
<h4 class="section">Parameters</h4>
<dl class="parameters">
<dt><code>mcXyzabc</code> <a class="xref" href="Hi.Geom.DVec3d.html">DVec3d</a></dt>
<dd><p>The machine coordinates</p>
</dd>
</dl>
<h4 class="section">Returns</h4>
<dl class="parameters">
<dt><a class="xref" href="Hi.Geom.Mat4d.html">Mat4d</a></dt>
<dd><p>The attacher matrix</p>
</dd>
</dl>
<a id="Hi_NcParsers_Dependencys_Generic_NcKinematicsDependency_McToPn_" data-uid="Hi.NcParsers.Dependencys.Generic.NcKinematicsDependency.McToPn*"></a>
<h3 id="Hi_NcParsers_Dependencys_Generic_NcKinematicsDependency_McToPn_Hi_Geom_DVec3d_" data-uid="Hi.NcParsers.Dependencys.Generic.NcKinematicsDependency.McToPn(Hi.Geom.DVec3d)">
McToPn(DVec3d)
</h3>
<div class="markdown level1 summary"><p>Machine coordinate to tool attacher Pn (Point and Normal).
The Pn is from table buckle to tool attacher.</p>
</div>
<div class="markdown level1 conceptual"></div>
<div class="codewrapper">
<pre><code class="lang-csharp hljs">public DVec3d McToPn(DVec3d mcXyzabc)</code></pre>
</div>
<h4 class="section">Parameters</h4>
<dl class="parameters">
<dt><code>mcXyzabc</code> <a class="xref" href="Hi.Geom.DVec3d.html">DVec3d</a></dt>
<dd><p>machine coordinate. ABC is in radian.</p>
</dd>
</dl>
<h4 class="section">Returns</h4>
<dl class="parameters">
<dt><a class="xref" href="Hi.Geom.DVec3d.html">DVec3d</a></dt>
<dd><p>tool attacher Pn (Point and Normal)</p>
</dd>
</dl>
<a id="Hi_NcParsers_Dependencys_Generic_NcKinematicsDependency_OrientationToMcAbc_" data-uid="Hi.NcParsers.Dependencys.Generic.NcKinematicsDependency.OrientationToMcAbc*"></a>
<h3 id="Hi_NcParsers_Dependencys_Generic_NcKinematicsDependency_OrientationToMcAbc_Hi_Geom_Mat4d_Hi_Geom_Vec3d__" data-uid="Hi.NcParsers.Dependencys.Generic.NcKinematicsDependency.OrientationToMcAbc(Hi.Geom.Mat4d,Hi.Geom.Vec3d@)">
OrientationToMcAbc(Mat4d, out Vec3d)
</h3>
<div class="markdown level1 summary"><p>Converts a tilt matrix to machine ABC coordinates.
the tilt matrix is the transformation matrix from table to attacher.
the solution only fit the orientation part of the <code class="paramref">tiltMat</code>.</p>
</div>
<div class="markdown level1 conceptual"></div>
<div class="codewrapper">
<pre><code class="lang-csharp hljs">public bool OrientationToMcAbc(Mat4d tiltMat, out Vec3d mcAbc_rad)</code></pre>
</div>
<h4 class="section">Parameters</h4>
<dl class="parameters">
<dt><code>tiltMat</code> <a class="xref" href="Hi.Geom.Mat4d.html">Mat4d</a></dt>
<dd><p>The tilt matrix to convert</p>
</dd>
<dt><code>mcAbc_rad</code> <a class="xref" href="Hi.Geom.Vec3d.html">Vec3d</a></dt>
<dd><p>Output parameter that will contain the machine ABC coordinates in radians</p>
</dd>
</dl>
<h4 class="section">Returns</h4>
<dl class="parameters">
<dt><a class="xref" href="https://learn.microsoft.com/dotnet/api/system.boolean">bool</a></dt>
<dd><p>Whether the conversion was successful</p>
</dd>
</dl>
<a id="Hi_NcParsers_Dependencys_Generic_NcKinematicsDependency_PnToMc_" data-uid="Hi.NcParsers.Dependencys.Generic.NcKinematicsDependency.PnToMc*"></a>
<h3 id="Hi_NcParsers_Dependencys_Generic_NcKinematicsDependency_PnToMc_Hi_Geom_DVec3d_Hi_Geom_DVec3d__" data-uid="Hi.NcParsers.Dependencys.Generic.NcKinematicsDependency.PnToMc(Hi.Geom.DVec3d,Hi.Geom.DVec3d@)">
PnToMc(DVec3d, out DVec3d)
</h3>
<div class="markdown level1 summary"><p>Tool attacher Pn (Point and Normal) to machine coordinate.
The Pn is from table buckle to tool attacher.</p>
</div>
<div class="markdown level1 conceptual"></div>
<div class="codewrapper">
<pre><code class="lang-csharp hljs">public bool PnToMc(DVec3d pn, out DVec3d mcXyzabc_rad)</code></pre>
</div>
<h4 class="section">Parameters</h4>
<dl class="parameters">
<dt><code>pn</code> <a class="xref" href="Hi.Geom.DVec3d.html">DVec3d</a></dt>
<dd><p>tool attacher Pn (Point and Normal)</p>
</dd>
<dt><code>mcXyzabc_rad</code> <a class="xref" href="Hi.Geom.DVec3d.html">DVec3d</a></dt>
<dd><p>machine coordinate (ABC in radian)</p>
</dd>
</dl>
<h4 class="section">Returns</h4>
<dl class="parameters">
<dt><a class="xref" href="https://learn.microsoft.com/dotnet/api/system.boolean">bool</a></dt>
<dd><p>whether conversion succeeded</p>
</dd>
</dl>
</article>
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