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<article data-uid="Hi.NcParsers.Dependencys.SystemWired.NcKinematicsDependency">
<h1 id="Hi_NcParsers_Dependencys_SystemWired_NcKinematicsDependency" data-uid="Hi.NcParsers.Dependencys.SystemWired.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.SystemWired.html">SystemWired</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_PipelineNcDependencyList">PipelineNcDependencyList</a>.</p>
<p>
The actual kinematics instance is resolved at runtime via
<a class="xref" href="Hi.NcParsers.Dependencys.SystemWired.NcKinematicsDependency.html#Hi_NcParsers_Dependencys_SystemWired_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_SystemWired_NcKinematicsDependency__ctor_" data-uid="Hi.NcParsers.Dependencys.SystemWired.NcKinematicsDependency.#ctor*"></a>
<h3 id="Hi_NcParsers_Dependencys_SystemWired_NcKinematicsDependency__ctor" data-uid="Hi.NcParsers.Dependencys.SystemWired.NcKinematicsDependency.#ctor">
NcKinematicsDependency()
</h3>
<div class="markdown level1 summary"><p>Initializes a new instance with no <a class="xref" href="Hi.NcParsers.Dependencys.SystemWired.NcKinematicsDependency.html#Hi_NcParsers_Dependencys_SystemWired_NcKinematicsDependency_KinematicsProvider">KinematicsProvider</a>; assign one before the runner queries kinematics.</p>
</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_SystemWired_NcKinematicsDependency__ctor_" data-uid="Hi.NcParsers.Dependencys.SystemWired.NcKinematicsDependency.#ctor*"></a>
<h3 id="Hi_NcParsers_Dependencys_SystemWired_NcKinematicsDependency__ctor_System_Func_Hi_Numerical_Xyzabc_IMachineKinematics__" data-uid="Hi.NcParsers.Dependencys.SystemWired.NcKinematicsDependency.#ctor(System.Func{Hi.Numerical.Xyzabc.IMachineKinematics})">
NcKinematicsDependency(Func&lt;IMachineKinematics&gt;)
</h3>
<div class="markdown level1 summary"><p>Initializes a new instance with the given <a class="xref" href="Hi.NcParsers.Dependencys.SystemWired.NcKinematicsDependency.html#Hi_NcParsers_Dependencys_SystemWired_NcKinematicsDependency_KinematicsProvider">KinematicsProvider</a>.</p>
</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><p>Delegate that resolves the live <a class="xref" href="Hi.Numerical.Xyzabc.IMachineKinematics.html">IMachineKinematics</a> at lookup time.</p>
</dd>
</dl>
<h2 class="section" id="properties">Properties
</h2>
<a id="Hi_NcParsers_Dependencys_SystemWired_NcKinematicsDependency_KinematicsOrNull_" data-uid="Hi.NcParsers.Dependencys.SystemWired.NcKinematicsDependency.KinematicsOrNull*"></a>
<h3 id="Hi_NcParsers_Dependencys_SystemWired_NcKinematicsDependency_KinematicsOrNull" data-uid="Hi.NcParsers.Dependencys.SystemWired.NcKinematicsDependency.KinematicsOrNull">
KinematicsOrNull
</h3>
<div class="markdown level1 summary"><p>Non-throwing probe: the live kinematics instance, or <code>null</code> when
the provider is unwired or resolves to null (e.g. the machining chain
is a <code>ClMillingDevice</code>, so no <code>XyzabcSolver</code> exists). Lets a
syntax/semantic that supports both CL and MC chains branch on
availability instead of catching <a class="xref" href="https://learn.microsoft.com/dotnet/api/system.invalidoperationexception">InvalidOperationException</a>
from the <a class="xref" href="Hi.Numerical.Xyzabc.IMachineKinematics.html">IMachineKinematics</a> members.</p>
</div>
<div class="markdown level1 conceptual"></div>
<div class="codewrapper">
<pre><code class="lang-csharp hljs">public IMachineKinematics KinematicsOrNull { get; }</code></pre>
</div>
<h4 class="section">Property Value</h4>
<dl class="parameters">
<dt><a class="xref" href="Hi.Numerical.Xyzabc.IMachineKinematics.html">IMachineKinematics</a></dt>
<dd></dd>
</dl>
<a id="Hi_NcParsers_Dependencys_SystemWired_NcKinematicsDependency_KinematicsProvider_" data-uid="Hi.NcParsers.Dependencys.SystemWired.NcKinematicsDependency.KinematicsProvider*"></a>
<h3 id="Hi_NcParsers_Dependencys_SystemWired_NcKinematicsDependency_KinematicsProvider" data-uid="Hi.NcParsers.Dependencys.SystemWired.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_SystemWired_NcKinematicsDependency_ProgramZeroToPnOrNull_" data-uid="Hi.NcParsers.Dependencys.SystemWired.NcKinematicsDependency.ProgramZeroToPnOrNull*"></a>
<h3 id="Hi_NcParsers_Dependencys_SystemWired_NcKinematicsDependency_ProgramZeroToPnOrNull" data-uid="Hi.NcParsers.Dependencys.SystemWired.NcKinematicsDependency.ProgramZeroToPnOrNull">
ProgramZeroToPnOrNull
</h3>
<div class="markdown level1 summary"><p>The program-zero → Pn transform resolved via
<a class="xref" href="Hi.NcParsers.Dependencys.SystemWired.NcKinematicsDependency.html#Hi_NcParsers_Dependencys_SystemWired_NcKinematicsDependency_ProgramZeroToPnProvider">ProgramZeroToPnProvider</a>, or <code>null</code> when
unwired/unavailable; consumers fall back to identity (workpiece frame
≡ Pn frame).</p>
</div>
<div class="markdown level1 conceptual"></div>
<div class="codewrapper">
<pre><code class="lang-csharp hljs">public Mat4d ProgramZeroToPnOrNull { get; }</code></pre>
</div>
<h4 class="section">Property Value</h4>
<dl class="parameters">
<dt><a class="xref" href="Hi.Geom.Mat4d.html">Mat4d</a></dt>
<dd></dd>
</dl>
<a id="Hi_NcParsers_Dependencys_SystemWired_NcKinematicsDependency_ProgramZeroToPnProvider_" data-uid="Hi.NcParsers.Dependencys.SystemWired.NcKinematicsDependency.ProgramZeroToPnProvider*"></a>
<h3 id="Hi_NcParsers_Dependencys_SystemWired_NcKinematicsDependency_ProgramZeroToPnProvider" data-uid="Hi.NcParsers.Dependencys.SystemWired.NcKinematicsDependency.ProgramZeroToPnProvider">
ProgramZeroToPnProvider
</h3>
<div class="markdown level1 summary"><p>Runtime provider for the rigid transform from program-zero (workpiece)
coordinates to the kinematic Pn frame, for pipelines whose source
positions live in the workpiece frame (the NX CLSF pipeline). NC
G-code pipelines leave it unwired — their program→MC mapping is
carried per block by work-offset transform sections instead. The host
wires it from the equipment topology
(<code>MachiningEquipmentUtil.GetProgramToPnMat4d</code>); the provider is
resolved per call so a re-aligned workpiece is picked up without
rewiring.</p>
</div>
<div class="markdown level1 conceptual"></div>
<div class="codewrapper">
<pre><code class="lang-csharp hljs">public Func&lt;Mat4d&gt; ProgramZeroToPnProvider { 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.Geom.Mat4d.html">Mat4d</a>&gt;</dt>
<dd></dd>
</dl>
<a id="Hi_NcParsers_Dependencys_SystemWired_NcKinematicsDependency_XName_" data-uid="Hi.NcParsers.Dependencys.SystemWired.NcKinematicsDependency.XName*"></a>
<h3 id="Hi_NcParsers_Dependencys_SystemWired_NcKinematicsDependency_XName" data-uid="Hi.NcParsers.Dependencys.SystemWired.NcKinematicsDependency.XName">
XName
</h3>
<div class="markdown level1 summary"><p>XML element name used to register this dependency 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_Dependencys_SystemWired_NcKinematicsDependency_MakeXmlSource_" data-uid="Hi.NcParsers.Dependencys.SystemWired.NcKinematicsDependency.MakeXmlSource*"></a>
<h3 id="Hi_NcParsers_Dependencys_SystemWired_NcKinematicsDependency_MakeXmlSource_System_String_System_String_System_Boolean_" data-uid="Hi.NcParsers.Dependencys.SystemWired.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_SystemWired_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_SystemWired_NcKinematicsDependency_McAbcToMat_" data-uid="Hi.NcParsers.Dependencys.SystemWired.NcKinematicsDependency.McAbcToMat*"></a>
<h3 id="Hi_NcParsers_Dependencys_SystemWired_NcKinematicsDependency_McAbcToMat_Hi_Geom_Vec3d_" data-uid="Hi.NcParsers.Dependencys.SystemWired.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_SystemWired_NcKinematicsDependency_McToMat_" data-uid="Hi.NcParsers.Dependencys.SystemWired.NcKinematicsDependency.McToMat*"></a>
<h3 id="Hi_NcParsers_Dependencys_SystemWired_NcKinematicsDependency_McToMat_Hi_Geom_DVec3d_" data-uid="Hi.NcParsers.Dependencys.SystemWired.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_SystemWired_NcKinematicsDependency_McToPn_" data-uid="Hi.NcParsers.Dependencys.SystemWired.NcKinematicsDependency.McToPn*"></a>
<h3 id="Hi_NcParsers_Dependencys_SystemWired_NcKinematicsDependency_McToPn_Hi_Geom_DVec3d_" data-uid="Hi.NcParsers.Dependencys.SystemWired.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_SystemWired_NcKinematicsDependency_OrientationToMcAbc_" data-uid="Hi.NcParsers.Dependencys.SystemWired.NcKinematicsDependency.OrientationToMcAbc*"></a>
<h3 id="Hi_NcParsers_Dependencys_SystemWired_NcKinematicsDependency_OrientationToMcAbc_Hi_Geom_Mat4d_Hi_Geom_Vec3d__" data-uid="Hi.NcParsers.Dependencys.SystemWired.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_SystemWired_NcKinematicsDependency_OrientationToMcAbc_" data-uid="Hi.NcParsers.Dependencys.SystemWired.NcKinematicsDependency.OrientationToMcAbc*"></a>
<h3 id="Hi_NcParsers_Dependencys_SystemWired_NcKinematicsDependency_OrientationToMcAbc_Hi_Geom_Mat4d_System_Func_Hi_Geom_Vec3d_System_Boolean__Hi_Geom_Vec3d__" data-uid="Hi.NcParsers.Dependencys.SystemWired.NcKinematicsDependency.OrientationToMcAbc(Hi.Geom.Mat4d,System.Func{Hi.Geom.Vec3d,System.Boolean},Hi.Geom.Vec3d@)">
OrientationToMcAbc(Mat4d, Func&lt;Vec3d, bool&gt;, out Vec3d)
</h3>
<div class="markdown level1 summary"><p><a class="xref" href="Hi.Numerical.Xyzabc.IMachineKinematics.html#Hi_Numerical_Xyzabc_IMachineKinematics_OrientationToMcAbc_Hi_Geom_Mat4d_Hi_Geom_Vec3d__">OrientationToMcAbc(Mat4d, out Vec3d)</a> restricted to the
rotary positions <code class="paramref">isMcAbcAdmissible</code> accepts (the
machine's rotary travel, typically). A full orientation fixes the
rotary positions up to axis periodicity, so a solution the predicate
refuses is a posture this machine cannot take: the conversion then
fails (false) and leaves the solver state as it was, so that the
caller can fall back to <a class="xref" href="Hi.Numerical.Xyzabc.IMachineKinematics.html#Hi_Numerical_Xyzabc_IMachineKinematics_OrientationToMcAbc_Hi_Geom_Vec3d_System_Func_Hi_Geom_Vec3d_System_Boolean__Hi_Geom_Vec3d__">OrientationToMcAbc(Vec3d, Func&lt;Vec3d, bool&gt;, out Vec3d)</a>,
where the free rotation about the tool axis opens the other branch.
A null predicate admits everything.</p>
</div>
<div class="markdown level1 conceptual"></div>
<div class="codewrapper">
<pre><code class="lang-csharp hljs">public bool OrientationToMcAbc(Mat4d tiltMat, Func&lt;Vec3d, bool&gt; isMcAbcAdmissible, 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>isMcAbcAdmissible</code> <a class="xref" href="https://learn.microsoft.com/dotnet/api/system.func-2">Func</a>&lt;<a class="xref" href="Hi.Geom.Vec3d.html">Vec3d</a>, <a class="xref" href="https://learn.microsoft.com/dotnet/api/system.boolean">bool</a>&gt;</dt>
<dd><p>Accepts a machine ABC (radians) or refuses it; null admits everything.</p>
</dd>
<dt><code>mcAbc_rad</code> <a class="xref" href="Hi.Geom.Vec3d.html">Vec3d</a></dt>
<dd><p>Output 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 an admissible conversion was found.</p>
</dd>
</dl>
<a id="Hi_NcParsers_Dependencys_SystemWired_NcKinematicsDependency_OrientationToMcAbc_" data-uid="Hi.NcParsers.Dependencys.SystemWired.NcKinematicsDependency.OrientationToMcAbc*"></a>
<h3 id="Hi_NcParsers_Dependencys_SystemWired_NcKinematicsDependency_OrientationToMcAbc_Hi_Geom_Vec3d_Hi_Geom_Vec3d__" data-uid="Hi.NcParsers.Dependencys.SystemWired.NcKinematicsDependency.OrientationToMcAbc(Hi.Geom.Vec3d,Hi.Geom.Vec3d@)">
OrientationToMcAbc(Vec3d, out Vec3d)
</h3>
<div class="markdown level1 summary"><p>Converts a target tool axial direction (endpoint orientation) to machine ABC coordinates.
Only the axial alignment is constrained; rotation about the tool axis is free.</p>
<p>
Use this in place of <a class="xref" href="Hi.Numerical.Xyzabc.IMachineKinematics.html#Hi_Numerical_Xyzabc_IMachineKinematics_OrientationToMcAbc_Hi_Geom_Mat4d_Hi_Geom_Vec3d__">OrientationToMcAbc(Mat4d, out Vec3d)</a> when the
rotation about the tool axis is irrelevant (e.g. G53.1 rotary positioning). The
axial-only solve avoids the redundant 6-target full-matrix constraint and is more
likely to converge for tilt configurations such as <code>G68.2 I180 J90 K0</code>.
</p>
</div>
<div class="markdown level1 conceptual"></div>
<div class="codewrapper">
<pre><code class="lang-csharp hljs">public bool OrientationToMcAbc(Vec3d toolAxialNormal, out Vec3d mcAbc_rad)</code></pre>
</div>
<h4 class="section">Parameters</h4>
<dl class="parameters">
<dt><code>toolAxialNormal</code> <a class="xref" href="Hi.Geom.Vec3d.html">Vec3d</a></dt>
<dd><p>Target tool axial direction in table coordinates
(the third row of the tilt matrix; e.g. <a class="xref" href="Hi.Geom.Mat4d.html#Hi_Geom_Mat4d_AxialNormal">AxialNormal</a>).</p>
</dd>
<dt><code>mcAbc_rad</code> <a class="xref" href="Hi.Geom.Vec3d.html">Vec3d</a></dt>
<dd><p>Output 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_SystemWired_NcKinematicsDependency_OrientationToMcAbc_" data-uid="Hi.NcParsers.Dependencys.SystemWired.NcKinematicsDependency.OrientationToMcAbc*"></a>
<h3 id="Hi_NcParsers_Dependencys_SystemWired_NcKinematicsDependency_OrientationToMcAbc_Hi_Geom_Vec3d_System_Func_Hi_Geom_Vec3d_System_Boolean__Hi_Geom_Vec3d__" data-uid="Hi.NcParsers.Dependencys.SystemWired.NcKinematicsDependency.OrientationToMcAbc(Hi.Geom.Vec3d,System.Func{Hi.Geom.Vec3d,System.Boolean},Hi.Geom.Vec3d@)">
OrientationToMcAbc(Vec3d, Func&lt;Vec3d, bool&gt;, out Vec3d)
</h3>
<div class="markdown level1 summary"><p><a class="xref" href="Hi.Numerical.Xyzabc.IMachineKinematics.html#Hi_Numerical_Xyzabc_IMachineKinematics_OrientationToMcAbc_Hi_Geom_Vec3d_Hi_Geom_Vec3d__">OrientationToMcAbc(Vec3d, out Vec3d)</a> preferring the
solution branch <code class="paramref">isMcAbcAdmissible</code> accepts. The
axial-only problem has two branches on a two-rotary-axis machine
(on a table-table A/C: (A, C) and (−A, C+180°)); the plain overload
returns the branch nearest the solver's seed, which from the rotary
pole (A0 C0) is the one the tilt's azimuth happens to favour — half
the time the branch a cradle table with an asymmetric tilt travel
cannot reach (CHEM20180926 N100: <code>G68.2 I210 J-90</code> + <code>G53.1</code>
solved to A=+90° on a −120°…+30° A axis). When the nearest branch is
refused, an implementation with a real solver searches the other
branches and returns the admissible one nearest the seed; when none
is admissible it returns the refused solution and true, and the
stroke-limit check downstream reports it. A null predicate makes this
the plain overload. The default implementation is the plain solve —
the predicate is advisory for an implementation without a solver.</p>
</div>
<div class="markdown level1 conceptual"></div>
<div class="codewrapper">
<pre><code class="lang-csharp hljs">public bool OrientationToMcAbc(Vec3d toolAxialNormal, Func&lt;Vec3d, bool&gt; isMcAbcAdmissible, out Vec3d mcAbc_rad)</code></pre>
</div>
<h4 class="section">Parameters</h4>
<dl class="parameters">
<dt><code>toolAxialNormal</code> <a class="xref" href="Hi.Geom.Vec3d.html">Vec3d</a></dt>
<dd><p>Target tool axial direction in table coordinates.</p>
</dd>
<dt><code>isMcAbcAdmissible</code> <a class="xref" href="https://learn.microsoft.com/dotnet/api/system.func-2">Func</a>&lt;<a class="xref" href="Hi.Geom.Vec3d.html">Vec3d</a>, <a class="xref" href="https://learn.microsoft.com/dotnet/api/system.boolean">bool</a>&gt;</dt>
<dd><p>Accepts a machine ABC (radians) or refuses it; null admits everything.</p>
</dd>
<dt><code>mcAbc_rad</code> <a class="xref" href="Hi.Geom.Vec3d.html">Vec3d</a></dt>
<dd><p>Output 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 (admissible or not).</p>
</dd>
</dl>
<a id="Hi_NcParsers_Dependencys_SystemWired_NcKinematicsDependency_PnToMc_" data-uid="Hi.NcParsers.Dependencys.SystemWired.NcKinematicsDependency.PnToMc*"></a>
<h3 id="Hi_NcParsers_Dependencys_SystemWired_NcKinematicsDependency_PnToMc_Hi_Geom_DVec3d_Hi_Geom_DVec3d__" data-uid="Hi.NcParsers.Dependencys.SystemWired.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>
<a id="Hi_NcParsers_Dependencys_SystemWired_NcKinematicsDependency_Reg_" data-uid="Hi.NcParsers.Dependencys.SystemWired.NcKinematicsDependency.Reg*"></a>
<h3 id="Hi_NcParsers_Dependencys_SystemWired_NcKinematicsDependency_Reg_Hi_Common_XmlUtils_XFactory_" data-uid="Hi.NcParsers.Dependencys.SystemWired.NcKinematicsDependency.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>
</div>
<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>
</dl>
</article>
<div class="contribution d-print-none">
</div>
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