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<title>Class PivotTransformationSyntax | HiAPI-C# 2025 </title>
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<meta name="description" content="Writes the entry into on every block, capturing the Pn→MC kinematic rigid transform for the block&#39;s endpoint rotary state. Mirrors legacy HardNcLine.GetProgramXyz&#39;s use of — without this entry, the transform chain would miss the rotary rotation on any block whose MachineCoordinate.ABC is non-zero, and McXyzSyntax (and ProgramXyzSyntax&#39;s inverse lookback) would silently drift. Scope is not limited to RTCP modal: as long as rotary axes are physically at a non-zero position (e.g. after a non-RTCP G00 B90 plus any subsequent motion), the kinematic chain still contributes a non-identity rigid transform that must appear in the endpoint chain. is orthogonal and only governs the dynamic-rotary tagging used by to pick the motion form. Chain position: must run after all Pn-frame writers (, , , , brand-specific coord offset syntaxes) so the PivotTransform entry naturally lands as the last chain element. Must run before / so they see the completed chain. Silently no-ops when is absent (3-axis configurations without rotary kinematics).">
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<article data-uid="Hi.NcParsers.LogicSyntaxs.PivotTransformationSyntax">
<h1 id="Hi_NcParsers_LogicSyntaxs_PivotTransformationSyntax" data-uid="Hi.NcParsers.LogicSyntaxs.PivotTransformationSyntax" class="text-break">
Class PivotTransformationSyntax
</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.LogicSyntaxs.html">LogicSyntaxs</a></dd></dl>
<dl><dt>Assembly</dt><dd>HiMech.dll</dd></dl>
</div>
<div class="markdown summary"><p>Writes the <a class="xref" href="Hi.NcParsers.Syntaxs.TransformationUtil.html#Hi_NcParsers_Syntaxs_TransformationUtil_PivotTransformSource">PivotTransformSource</a> entry
into <a class="xref" href="Hi.NcParsers.Keywords.ITransformationDef.html#Hi_NcParsers_Keywords_ITransformationDef_ProgramToMcTransform">ProgramToMcTransform</a>
on <b>every block</b>, capturing the Pn→MC kinematic rigid transform
for the block's endpoint rotary state. Mirrors legacy
<code>HardNcLine.GetProgramXyz</code>'s use of
<a class="xref" href="Hi.Numerical.Xyzabc.IMachineKinematics.html#Hi_Numerical_Xyzabc_IMachineKinematics_McToPn_Hi_Geom_DVec3d_">McToPn(DVec3d)</a> — without this entry, the
transform chain would miss the rotary rotation on any block whose
<code>MachineCoordinate.ABC</code> is non-zero, and <code>McXyzSyntax</code> (and
<code>ProgramXyzSyntax</code>'s inverse lookback) would silently drift.</p>
<p>
Scope is <b>not</b> limited to RTCP modal: as long as rotary axes are
physically at a non-zero position (e.g. after a non-RTCP <code>G00 B90</code>
plus any subsequent motion), the kinematic chain still contributes a
non-identity rigid transform that must appear in the endpoint chain.
<a class="xref" href="Hi.NcParsers.LogicSyntaxs.G43p4RtcpSyntax.html">G43p4RtcpSyntax</a> is orthogonal and only governs the
dynamic-rotary <a class="xref" href="Hi.NcParsers.Syntaxs.TransformationUtil.html#Hi_NcParsers_Syntaxs_TransformationUtil_KindKey">KindKey</a> tagging used by
<a class="xref" href="Hi.NcParsers.LogicSyntaxs.LinearMotionSyntax.html">LinearMotionSyntax</a> to pick the motion form.
</p>
<p>
Chain position: must run <b>after</b> all Pn-frame writers
(<a class="xref" href="Hi.NcParsers.LogicSyntaxs.IsoG68p2TiltSyntax.html">IsoG68p2TiltSyntax</a>, <a class="xref" href="Hi.NcParsers.LogicSyntaxs.ToolHeightOffsetSyntax.html">ToolHeightOffsetSyntax</a>,
<a class="xref" href="Hi.NcParsers.LogicSyntaxs.G43p4RtcpSyntax.html">G43p4RtcpSyntax</a>, <a class="xref" href="Hi.NcParsers.LogicSyntaxs.IsoCoordinateOffsetSyntax.html">IsoCoordinateOffsetSyntax</a>,
brand-specific coord offset syntaxes) so the <code>PivotTransform</code>
entry naturally lands as the <b>last</b> chain element. Must run
<b>before</b> <a class="xref" href="Hi.NcParsers.LogicSyntaxs.McXyzSyntax.html">McXyzSyntax</a> / <a class="xref" href="Hi.NcParsers.LogicSyntaxs.ProgramXyzSyntax.html">ProgramXyzSyntax</a>
so they see the completed chain.
</p>
<p>
Silently no-ops when <a class="xref" href="Hi.Numerical.Xyzabc.IMachineKinematics.html">IMachineKinematics</a> is absent
(3-axis configurations without rotary kinematics).
</p>
</div>
<div class="markdown conceptual"></div>
<div class="codewrapper">
<pre><code class="lang-csharp hljs">public class PivotTransformationSyntax : ISituNcSyntax, INcSyntax, IMakeXmlSource</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">PivotTransformationSyntax</span></div>
</dd>
</dl>
<dl class="typelist implements">
<dt>Implements</dt>
<dd>
<div><a class="xref" href="Hi.NcParsers.Syntaxs.ISituNcSyntax.html">ISituNcSyntax</a></div>
<div><a class="xref" href="Hi.NcParsers.Syntaxs.INcSyntax.html">INcSyntax</a></div>
<div><a class="xref" href="Hi.Common.XmlUtils.IMakeXmlSource.html">IMakeXmlSource</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 id="Hi_NcParsers_LogicSyntaxs_PivotTransformationSyntax_examples">Examples</h2>
<p>Identity probe — a <code>TestDeps.Kinematics</code> stub that
makes <code>McToPn</code> pass through XYZ and return a fixed <code>UnitZ</code>
normal, so <a class="xref" href="Hi.NcParsers.Syntaxs.TransformationUtil.html#Hi_NcParsers_Syntaxs_TransformationUtil_MakePivotTransformMat_Hi_Numerical_Xyzabc_IMachineKinematics_Hi_Geom_Vec3d_">MakePivotTransformMat(IMachineKinematics, Vec3d)</a>'s
four-basis probing returns identity <code>K(0)</code> and <code>K(abc)</code>,
and the product <code>K(0) * K(abc).GetInverse()</code> collapses to
identity. With no current or previous <code>MachineCoordinateState</code>,
endpoint ABC defaults to <code>(0,0,0)</code>; no dynamic entries exist
yet so the entry is tagged <a class="xref" href="Hi.NcParsers.Syntaxs.TransformationUtil.html#Hi_NcParsers_Syntaxs_TransformationUtil_KindStatic">KindStatic</a>.
Case for the dep-guard contract only; the real kinematics paths are
covered by the cases below.
#BeforeBuild:</p>
<pre><code class="lang-csharp">{}</code></pre>
<p>#AfterBuild:</p>
<pre><code class="lang-csharp">{
"ProgramToMcTransform": [
{
"Source": "PivotTransform",
"Kind": "Static",
"Mat4d": [1,0,0,0, 0,1,0,0, 0,0,1,0, 0,0,0,1]
}
]
}</code></pre>
<p>Real <a class="xref" href="Hi.Numerical.Xyzabc.XyzabcSolver.html">XyzabcSolver</a> (table-A / head-B 5-axis layout
<code>[O][Z][A][w];[O][Y][X][B][S][t]</code>) with current block declaring
<code>MachineCoordinateState.A = 45</code> — endpoint ABC =
<code>(π/4, 0, 0)</code> radians. Table-side A rotation moves the tool
position in the workpiece frame, so
<code>MakePivotTransformMat</code>'s four-basis probe returns a
non-identity rigid matrix. The exact Mat4d below was captured from
<code>BuildAndDump</code>'s actual output (per gotcha #2: rad/deg trig
drift, always dump first):
#BeforeBuild:</p>
<pre><code class="lang-csharp">{ "MachineCoordinateState": { "A": 45 } }</code></pre>
<p>#AfterBuild:</p>
<pre><code class="lang-csharp">{
"MachineCoordinateState": { "A": 45 },
"ProgramToMcTransform": [
{
"Source": "PivotTransform",
"Kind": "Static",
"Mat4d": [
1, 0, 0, 0,
0, 0.7071067811865475, -0.7071067811865475, 0,
0, 0.7071067811865475, 0.7071067811865475, 0,
0, 0, 0, 1
]
}
]
}</code></pre>
<p>Stub <code>TestDeps.Kinematics</code> with a pre-existing Dynamic
chain entry on the current block (as <a class="xref" href="Hi.NcParsers.LogicSyntaxs.G43p4RtcpSyntax.html">G43p4RtcpSyntax</a>
would have written when RTCP is dynamic). <a class="xref" href="Hi.NcParsers.Syntaxs.TransformationUtil.html#Hi_NcParsers_Syntaxs_TransformationUtil_HasDynamicEntry_System_Text_Json_Nodes_JsonObject_">HasDynamicEntry(JsonObject)</a>
returns true so the PivotTransform entry is tagged
<a class="xref" href="Hi.NcParsers.Syntaxs.TransformationUtil.html#Hi_NcParsers_Syntaxs_TransformationUtil_KindDynamic">KindDynamic</a> even though the math
itself collapses to identity:
#BeforeBuild:</p>
<pre><code class="lang-csharp">{
"ProgramToMcTransform": [
{
"Source": "ToolHeightCompensation",
"Kind": "Dynamic",
"Mat4d": [1,0,0,0, 0,1,0,0, 0,0,1,0, 0,0,0,1]
}
]
}</code></pre>
<p>#AfterBuild:</p>
<pre><code class="lang-csharp">{
"ProgramToMcTransform": [
{
"Source": "ToolHeightCompensation",
"Kind": "Dynamic",
"Mat4d": [1,0,0,0, 0,1,0,0, 0,0,1,0, 0,0,0,1]
},
{
"Source": "PivotTransform",
"Kind": "Dynamic",
"Mat4d": [1,0,0,0, 0,1,0,0, 0,0,1,0, 0,0,0,1]
}
]
}</code></pre>
<h2 class="section" id="constructors">Constructors
</h2>
<a id="Hi_NcParsers_LogicSyntaxs_PivotTransformationSyntax__ctor_" data-uid="Hi.NcParsers.LogicSyntaxs.PivotTransformationSyntax.#ctor*"></a>
<h3 id="Hi_NcParsers_LogicSyntaxs_PivotTransformationSyntax__ctor" data-uid="Hi.NcParsers.LogicSyntaxs.PivotTransformationSyntax.#ctor">
PivotTransformationSyntax()
</h3>
<div class="markdown level1 summary"><p>Initializes a new instance with default settings.</p>
</div>
<div class="markdown level1 conceptual"></div>
<div class="codewrapper">
<pre><code class="lang-csharp hljs">public PivotTransformationSyntax()</code></pre>
</div>
<a id="Hi_NcParsers_LogicSyntaxs_PivotTransformationSyntax__ctor_" data-uid="Hi.NcParsers.LogicSyntaxs.PivotTransformationSyntax.#ctor*"></a>
<h3 id="Hi_NcParsers_LogicSyntaxs_PivotTransformationSyntax__ctor_System_Xml_Linq_XElement_" data-uid="Hi.NcParsers.LogicSyntaxs.PivotTransformationSyntax.#ctor(System.Xml.Linq.XElement)">
PivotTransformationSyntax(XElement)
</h3>
<div class="markdown level1 summary"><p>Initializes a new instance by deserializing from the given XML element.</p>
</div>
<div class="markdown level1 conceptual"></div>
<div class="codewrapper">
<pre><code class="lang-csharp hljs">public PivotTransformationSyntax(XElement src)</code></pre>
</div>
<h4 class="section">Parameters</h4>
<dl class="parameters">
<dt><code>src</code> <a class="xref" href="https://learn.microsoft.com/dotnet/api/system.xml.linq.xelement">XElement</a></dt>
<dd><p>Source XML element.</p>
</dd>
</dl>
<h2 class="section" id="properties">Properties
</h2>
<a id="Hi_NcParsers_LogicSyntaxs_PivotTransformationSyntax_Name_" data-uid="Hi.NcParsers.LogicSyntaxs.PivotTransformationSyntax.Name*"></a>
<h3 id="Hi_NcParsers_LogicSyntaxs_PivotTransformationSyntax_Name" data-uid="Hi.NcParsers.LogicSyntaxs.PivotTransformationSyntax.Name">
Name
</h3>
<div class="markdown level1 summary"><p>Syntax kind name (typically the concrete type name).</p>
</div>
<div class="markdown level1 conceptual"></div>
<div class="codewrapper">
<pre><code class="lang-csharp hljs">public string Name { 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>
<a id="Hi_NcParsers_LogicSyntaxs_PivotTransformationSyntax_XName_" data-uid="Hi.NcParsers.LogicSyntaxs.PivotTransformationSyntax.XName*"></a>
<h3 id="Hi_NcParsers_LogicSyntaxs_PivotTransformationSyntax_XName" data-uid="Hi.NcParsers.LogicSyntaxs.PivotTransformationSyntax.XName">
XName
</h3>
<div class="markdown level1 summary"><p>XML element name used to register this syntax with <a class="xref" href="Hi.Common.XmlUtils.XFactory.html">XFactory</a>.</p>
</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_LogicSyntaxs_PivotTransformationSyntax_Build_" data-uid="Hi.NcParsers.LogicSyntaxs.PivotTransformationSyntax.Build*"></a>
<h3 id="Hi_NcParsers_LogicSyntaxs_PivotTransformationSyntax_Build_Hi_Common_Collections_LazyLinkedListNode_Hi_NcParsers_Syntaxs_SyntaxPiece__System_Collections_Generic_List_Hi_NcParsers_Dependencys_INcDependency__Hi_NcParsers_NcDiagnosticProgress_" data-uid="Hi.NcParsers.LogicSyntaxs.PivotTransformationSyntax.Build(Hi.Common.Collections.LazyLinkedListNode{Hi.NcParsers.Syntaxs.SyntaxPiece},System.Collections.Generic.List{Hi.NcParsers.Dependencys.INcDependency},Hi.NcParsers.NcDiagnosticProgress)">
Build(LazyLinkedListNode&lt;SyntaxPiece&gt;, List&lt;INcDependency&gt;, NcDiagnosticProgress)
</h3>
<div class="markdown level1 summary"><p>Build syntax arrangement into the
<code class="paramref">syntaxPieceNode</code> in-place.</p>
</div>
<div class="markdown level1 conceptual"></div>
<div class="codewrapper">
<pre><code class="lang-csharp hljs">public void Build(LazyLinkedListNode&lt;SyntaxPiece&gt; syntaxPieceNode, List&lt;INcDependency&gt; ncDependencyList, NcDiagnosticProgress ncDiagnosticProgress)</code></pre>
</div>
<h4 class="section">Parameters</h4>
<dl class="parameters">
<dt><code>syntaxPieceNode</code> <a class="xref" href="Hi.Common.Collections.LazyLinkedListNode-1.html">LazyLinkedListNode</a>&lt;<a class="xref" href="Hi.NcParsers.Syntaxs.SyntaxPiece.html">SyntaxPiece</a>&gt;</dt>
<dd></dd>
<dt><code>ncDependencyList</code> <a class="xref" href="https://learn.microsoft.com/dotnet/api/system.collections.generic.list-1">List</a>&lt;<a class="xref" href="Hi.NcParsers.Dependencys.INcDependency.html">INcDependency</a>&gt;</dt>
<dd></dd>
<dt><code>ncDiagnosticProgress</code> <a class="xref" href="Hi.NcParsers.NcDiagnosticProgress.html">NcDiagnosticProgress</a></dt>
<dd></dd>
</dl>
<a id="Hi_NcParsers_LogicSyntaxs_PivotTransformationSyntax_MakeXmlSource_" data-uid="Hi.NcParsers.LogicSyntaxs.PivotTransformationSyntax.MakeXmlSource*"></a>
<h3 id="Hi_NcParsers_LogicSyntaxs_PivotTransformationSyntax_MakeXmlSource_System_String_System_String_System_Boolean_" data-uid="Hi.NcParsers.LogicSyntaxs.PivotTransformationSyntax.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_LogicSyntaxs_PivotTransformationSyntax_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_LogicSyntaxs_PivotTransformationSyntax_Reg_" data-uid="Hi.NcParsers.LogicSyntaxs.PivotTransformationSyntax.Reg*"></a>
<h3 id="Hi_NcParsers_LogicSyntaxs_PivotTransformationSyntax_Reg_Hi_Common_XmlUtils_XFactory_" data-uid="Hi.NcParsers.LogicSyntaxs.PivotTransformationSyntax.Reg(Hi.Common.XmlUtils.XFactory)">
Reg(XFactory)
</h3>
<div class="markdown level1 summary"><p>Registers this type's deserializer with the given <a class="xref" href="Hi.Common.XmlUtils.XFactory.html">XFactory</a>
(or <a class="xref" href="Hi.Common.XmlUtils.XFactory.html#Hi_Common_XmlUtils_XFactory_Default">Default</a> when <code class="paramref">factory</code> is
<code>null</code>). Idempotent.</p>
</div>
<div class="markdown level1 conceptual"></div>
<div class="codewrapper">
<pre><code class="lang-csharp hljs">public static void Reg(XFactory factory = null)</code></pre>
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<h4 class="section">Parameters</h4>
<dl class="parameters">
<dt><code>factory</code> <a class="xref" href="Hi.Common.XmlUtils.XFactory.html">XFactory</a></dt>
<dd></dd>
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