692 lines
26 KiB
HTML
692 lines
26 KiB
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<title>Class TransformationUtil | HiAPI-C# 2025 </title>
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<meta name="description" content="Utilities for the chain. Each entry is {Source, Kind, Mat4d}; entries are composed in order with pure matrix multiplication (). partitions the entries by contour validity: — the matrix is valid across the whole block, applicable to any interpolated point along the contour. — the matrix is a block-endpoint snapshot of a rotary-state-dependent transform (RTCP rotary-dynamic). Composing it produces a correct endpoint MC, but interpolated points along the contour must be derived per-step by motion semantics (); do not apply it to interpolated ProgramXyz. Both kinds carry a real Mat4d so composition stays a pure matrix product — no entry has a missing matrix. Use to detect the dynamic-rotary state without consulting a sibling section flag.">
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<article data-uid="Hi.NcParsers.Syntaxs.TransformationUtil">
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<h1 id="Hi_NcParsers_Syntaxs_TransformationUtil" data-uid="Hi.NcParsers.Syntaxs.TransformationUtil" class="text-break">
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Class TransformationUtil
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</h1>
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<div class="facts text-secondary">
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<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.Syntaxs.html">Syntaxs</a></dd></dl>
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<dl><dt>Assembly</dt><dd>HiMech.dll</dd></dl>
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</div>
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<div class="markdown summary"><p>Utilities for the <a class="xref" href="Hi.NcParsers.Keywords.ITransformationDef.html#Hi_NcParsers_Keywords_ITransformationDef_ProgramToMcTransform">ProgramToMcTransform</a> chain.
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Each entry is <code>{Source, Kind, Mat4d}</code>; entries are composed in order
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with pure matrix multiplication (<a class="xref" href="Hi.NcParsers.Syntaxs.TransformationUtil.html#Hi_NcParsers_Syntaxs_TransformationUtil_GetComposedTransform_System_Text_Json_Nodes_JsonObject_">GetComposedTransform(JsonObject)</a>).</p>
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<p>
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<a class="xref" href="Hi.NcParsers.Syntaxs.TransformationUtil.html#Hi_NcParsers_Syntaxs_TransformationUtil_KindKey">KindKey</a> partitions the entries by contour validity:
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<ul><li><a class="xref" href="Hi.NcParsers.Syntaxs.TransformationUtil.html#Hi_NcParsers_Syntaxs_TransformationUtil_KindStatic">KindStatic</a> — the matrix is valid across the whole
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block, applicable to any interpolated point along the contour.</li><li><a class="xref" href="Hi.NcParsers.Syntaxs.TransformationUtil.html#Hi_NcParsers_Syntaxs_TransformationUtil_KindDynamic">KindDynamic</a> — the matrix is a block-endpoint snapshot
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of a rotary-state-dependent transform (RTCP rotary-dynamic). Composing it
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produces a correct endpoint MC, but interpolated points along the contour
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must be derived per-step by motion semantics
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(<a class="xref" href="Hi.NcParsers.Semantics.ClLinearMotionSemantic.html">ClLinearMotionSemantic</a>); do not apply it to
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interpolated ProgramXyz.</li></ul>
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Both kinds carry a real Mat4d so composition stays a pure matrix product —
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no entry has a missing matrix. Use <a class="xref" href="Hi.NcParsers.Syntaxs.TransformationUtil.html#Hi_NcParsers_Syntaxs_TransformationUtil_HasDynamicEntry_System_Text_Json_Nodes_JsonObject_">HasDynamicEntry(JsonObject)</a> to detect
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the dynamic-rotary state without consulting a sibling section flag.
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</div>
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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 static class TransformationUtil</code></pre>
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</div>
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<dl class="typelist inheritance">
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<dt>Inheritance</dt>
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<dd>
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<div><a class="xref" href="https://learn.microsoft.com/dotnet/api/system.object">object</a></div>
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<div><span class="xref">TransformationUtil</span></div>
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</dd>
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</dl>
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<dl class="typelist inheritedMembers">
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<dt>Inherited Members</dt>
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<dd>
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<div>
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<a class="xref" href="https://learn.microsoft.com/dotnet/api/system.object.equals#system-object-equals(system-object)">object.Equals(object)</a>
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</div>
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<div>
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<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>
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</div>
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<div>
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<a class="xref" href="https://learn.microsoft.com/dotnet/api/system.object.gethashcode">object.GetHashCode()</a>
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</div>
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<div>
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<a class="xref" href="https://learn.microsoft.com/dotnet/api/system.object.gettype">object.GetType()</a>
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</div>
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<div>
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<a class="xref" href="https://learn.microsoft.com/dotnet/api/system.object.memberwiseclone">object.MemberwiseClone()</a>
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</div>
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<div>
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<a class="xref" href="https://learn.microsoft.com/dotnet/api/system.object.referenceequals">object.ReferenceEquals(object, object)</a>
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</div>
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<div>
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<a class="xref" href="https://learn.microsoft.com/dotnet/api/system.object.tostring">object.ToString()</a>
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</div>
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</dd></dl>
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<h2 class="section" id="fields">Fields
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</h2>
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<h3 id="Hi_NcParsers_Syntaxs_TransformationUtil_KindDynamic" data-uid="Hi.NcParsers.Syntaxs.TransformationUtil.KindDynamic">
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KindDynamic
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</h3>
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<div class="markdown level1 summary"><p>The entry's Mat4d is a block-endpoint snapshot only; intermediate
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contour points must be resolved by per-step IK in motion semantics.</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 const string KindDynamic = "Dynamic"</code></pre>
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</div>
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<h4 class="section">Field Value</h4>
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<dl class="parameters">
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<dt><a class="xref" href="https://learn.microsoft.com/dotnet/api/system.string">string</a></dt>
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<dd></dd>
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</dl>
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<h3 id="Hi_NcParsers_Syntaxs_TransformationUtil_KindKey" data-uid="Hi.NcParsers.Syntaxs.TransformationUtil.KindKey">
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KindKey
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</h3>
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<div class="markdown level1 summary"><p>JSON key for the entry's contour-validity classification.
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Value must be <a class="xref" href="Hi.NcParsers.Syntaxs.TransformationUtil.html#Hi_NcParsers_Syntaxs_TransformationUtil_KindStatic">KindStatic</a> or <a class="xref" href="Hi.NcParsers.Syntaxs.TransformationUtil.html#Hi_NcParsers_Syntaxs_TransformationUtil_KindDynamic">KindDynamic</a>.</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 const string KindKey = "Kind"</code></pre>
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</div>
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<h4 class="section">Field Value</h4>
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<dl class="parameters">
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<dt><a class="xref" href="https://learn.microsoft.com/dotnet/api/system.string">string</a></dt>
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<dd></dd>
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</dl>
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<h3 id="Hi_NcParsers_Syntaxs_TransformationUtil_KindStatic" data-uid="Hi.NcParsers.Syntaxs.TransformationUtil.KindStatic">
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KindStatic
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</h3>
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<div class="markdown level1 summary"><p>The entry's Mat4d is valid for any point along the contour.</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 const string KindStatic = "Static"</code></pre>
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</div>
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<h4 class="section">Field Value</h4>
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<dl class="parameters">
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<dt><a class="xref" href="https://learn.microsoft.com/dotnet/api/system.string">string</a></dt>
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<dd></dd>
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</dl>
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<h3 id="Hi_NcParsers_Syntaxs_TransformationUtil_Mat4dKey" data-uid="Hi.NcParsers.Syntaxs.TransformationUtil.Mat4dKey">
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Mat4dKey
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</h3>
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<div class="markdown level1 summary"><p>JSON key for the <a class="xref" href="Hi.Geom.Mat4d.html">Mat4d</a> snapshot inside each chain entry.</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 const string Mat4dKey = "Mat4d"</code></pre>
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</div>
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<h4 class="section">Field Value</h4>
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<dl class="parameters">
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<dt><a class="xref" href="https://learn.microsoft.com/dotnet/api/system.string">string</a></dt>
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<dd></dd>
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</dl>
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<h3 id="Hi_NcParsers_Syntaxs_TransformationUtil_PivotTransformSource" data-uid="Hi.NcParsers.Syntaxs.TransformationUtil.PivotTransformSource">
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PivotTransformSource
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</h3>
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<div class="markdown level1 summary"><p>Canonical source name for the RTCP pivot transform — the
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kinematic transform from Pn (post-G54, post-G68.2) to MC at the
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block's endpoint ABC. Contributed by
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<a class="xref" href="Hi.NcParsers.LogicSyntaxs.PivotTransformationSyntax.html">PivotTransformationSyntax</a>. Must be the
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<b>last</b> entry written into the chain so that all Pn-frame
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operations (tilt, tool-height, coord-offset) are accumulated before
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the final kinematic IK; this ordering is enforced by the syntax-
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chain registration order, not by the writer API.</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 const string PivotTransformSource = "PivotTransform"</code></pre>
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</div>
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<h4 class="section">Field Value</h4>
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<dl class="parameters">
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<dt><a class="xref" href="https://learn.microsoft.com/dotnet/api/system.string">string</a></dt>
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<dd></dd>
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</dl>
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<h3 id="Hi_NcParsers_Syntaxs_TransformationUtil_SourceKey" data-uid="Hi.NcParsers.Syntaxs.TransformationUtil.SourceKey">
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SourceKey
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</h3>
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<div class="markdown level1 summary"><p>JSON key for the transform origin label inside each chain entry.</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 const string SourceKey = "Source"</code></pre>
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</div>
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<h4 class="section">Field Value</h4>
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<dl class="parameters">
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<dt><a class="xref" href="https://learn.microsoft.com/dotnet/api/system.string">string</a></dt>
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<dd></dd>
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</dl>
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<h3 id="Hi_NcParsers_Syntaxs_TransformationUtil_ToolHeightCompensationSource" data-uid="Hi.NcParsers.Syntaxs.TransformationUtil.ToolHeightCompensationSource">
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ToolHeightCompensationSource
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</h3>
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<div class="markdown level1 summary"><p>Canonical source name for the tool-height-compensation entry
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(tool-normal · offset_mm along the current tool axis). Matches the
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<code>ToolHeightCompensation</code> section key read for
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<a class="xref" href="Hi.NcParsers.Keywords.IToolHeightCompensationDef.html#Hi_NcParsers_Keywords_IToolHeightCompensationDef_Offset_mm">Offset_mm</a>.</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 const string ToolHeightCompensationSource = "ToolHeightCompensation"</code></pre>
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</div>
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<h4 class="section">Field Value</h4>
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<dl class="parameters">
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<dt><a class="xref" href="https://learn.microsoft.com/dotnet/api/system.string">string</a></dt>
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<dd></dd>
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</dl>
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<h2 class="section" id="methods">Methods
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</h2>
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<a id="Hi_NcParsers_Syntaxs_TransformationUtil_AddOrReplaceTransform_" data-uid="Hi.NcParsers.Syntaxs.TransformationUtil.AddOrReplaceTransform*"></a>
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<h3 id="Hi_NcParsers_Syntaxs_TransformationUtil_AddOrReplaceTransform_System_Text_Json_Nodes_JsonObject_System_String_System_String_Hi_Geom_Mat4d_" data-uid="Hi.NcParsers.Syntaxs.TransformationUtil.AddOrReplaceTransform(System.Text.Json.Nodes.JsonObject,System.String,System.String,Hi.Geom.Mat4d)">
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AddOrReplaceTransform(JsonObject, string, string, Mat4d)
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</h3>
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<div class="markdown level1 summary"><p>Adds or replaces a named transformation entry in the chain.
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If an entry with the same source already exists, it is replaced in-place.
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Otherwise the new entry is appended.
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<code class="paramref">kind</code> must be <a class="xref" href="Hi.NcParsers.Syntaxs.TransformationUtil.html#Hi_NcParsers_Syntaxs_TransformationUtil_KindStatic">KindStatic</a> or <a class="xref" href="Hi.NcParsers.Syntaxs.TransformationUtil.html#Hi_NcParsers_Syntaxs_TransformationUtil_KindDynamic">KindDynamic</a>.</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 static void AddOrReplaceTransform(JsonObject json, string source, string kind, Mat4d mat)</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>json</code> <a class="xref" href="https://learn.microsoft.com/dotnet/api/system.text.json.nodes.jsonobject">JsonObject</a></dt>
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<dd></dd>
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<dt><code>source</code> <a class="xref" href="https://learn.microsoft.com/dotnet/api/system.string">string</a></dt>
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<dd></dd>
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<dt><code>kind</code> <a class="xref" href="https://learn.microsoft.com/dotnet/api/system.string">string</a></dt>
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<dd></dd>
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<dt><code>mat</code> <a class="xref" href="Hi.Geom.Mat4d.html">Mat4d</a></dt>
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<dd></dd>
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</dl>
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<a id="Hi_NcParsers_Syntaxs_TransformationUtil_GetComposedTransform_" data-uid="Hi.NcParsers.Syntaxs.TransformationUtil.GetComposedTransform*"></a>
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<h3 id="Hi_NcParsers_Syntaxs_TransformationUtil_GetComposedTransform_System_Text_Json_Nodes_JsonObject_" data-uid="Hi.NcParsers.Syntaxs.TransformationUtil.GetComposedTransform(System.Text.Json.Nodes.JsonObject)">
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GetComposedTransform(JsonObject)
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</h3>
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<div class="markdown level1 summary"><p>Composes all entries in the chain into a single block-endpoint Mat4d
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(left-to-right multiplication). Pure multiplication — no special
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cases, no kinematic lookup. The returned matrix is valid <b>only</b>
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for the block's endpoint state; see
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<a class="xref" href="Hi.NcParsers.Keywords.ITransformationDef.html#Hi_NcParsers_Keywords_ITransformationDef_ProgramToMcTransform">ProgramToMcTransform</a> for
|
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the endpoint-semantic contract.</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 static Mat4d GetComposedTransform(JsonObject json)</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>json</code> <a class="xref" href="https://learn.microsoft.com/dotnet/api/system.text.json.nodes.jsonobject">JsonObject</a></dt>
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<dd></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="Hi.Geom.Mat4d.html">Mat4d</a></dt>
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<dd></dd>
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</dl>
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<a id="Hi_NcParsers_Syntaxs_TransformationUtil_GetTransformBySource_" data-uid="Hi.NcParsers.Syntaxs.TransformationUtil.GetTransformBySource*"></a>
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<h3 id="Hi_NcParsers_Syntaxs_TransformationUtil_GetTransformBySource_System_Text_Json_Nodes_JsonObject_System_String_" data-uid="Hi.NcParsers.Syntaxs.TransformationUtil.GetTransformBySource(System.Text.Json.Nodes.JsonObject,System.String)">
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GetTransformBySource(JsonObject, string)
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</h3>
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<div class="markdown level1 summary"><p>Gets a specific entry's Mat4d by source name. Returns identity if not found.</p>
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</div>
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<div class="markdown level1 conceptual"></div>
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<div class="codewrapper">
|
|
<pre><code class="lang-csharp hljs">public static Mat4d GetTransformBySource(JsonObject json, string source)</code></pre>
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</div>
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<h4 class="section">Parameters</h4>
|
|
<dl class="parameters">
|
|
<dt><code>json</code> <a class="xref" href="https://learn.microsoft.com/dotnet/api/system.text.json.nodes.jsonobject">JsonObject</a></dt>
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<dd></dd>
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<dt><code>source</code> <a class="xref" href="https://learn.microsoft.com/dotnet/api/system.string">string</a></dt>
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<dd></dd>
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</dl>
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<h4 class="section">Returns</h4>
|
|
<dl class="parameters">
|
|
<dt><a class="xref" href="Hi.Geom.Mat4d.html">Mat4d</a></dt>
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|
<dd></dd>
|
|
</dl>
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<a id="Hi_NcParsers_Syntaxs_TransformationUtil_HasDynamicEntry_" data-uid="Hi.NcParsers.Syntaxs.TransformationUtil.HasDynamicEntry*"></a>
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|
|
|
<h3 id="Hi_NcParsers_Syntaxs_TransformationUtil_HasDynamicEntry_System_Text_Json_Nodes_JsonObject_" data-uid="Hi.NcParsers.Syntaxs.TransformationUtil.HasDynamicEntry(System.Text.Json.Nodes.JsonObject)">
|
|
HasDynamicEntry(JsonObject)
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</h3>
|
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|
|
<div class="markdown level1 summary"><p>Returns <code>true</code> if any entry in the chain carries
|
|
<a class="xref" href="Hi.NcParsers.Syntaxs.TransformationUtil.html#Hi_NcParsers_Syntaxs_TransformationUtil_KindDynamic">KindDynamic</a>. Used by motion-form selection
|
|
(<a class="xref" href="Hi.NcParsers.LogicSyntaxs.LinearMotionSyntax.html">LinearMotionSyntax</a>) and ProgramXyz
|
|
strategy dispatch (<a class="xref" href="Hi.NcParsers.LogicSyntaxs.ProgramXyzUtil.html">ProgramXyzUtil</a>) to
|
|
detect RTCP-rotary-dynamic state without consulting a flag on a
|
|
sibling section. Throws if any entry lacks <a class="xref" href="Hi.NcParsers.Syntaxs.TransformationUtil.html#Hi_NcParsers_Syntaxs_TransformationUtil_KindKey">KindKey</a>.</p>
|
|
</div>
|
|
<div class="markdown level1 conceptual"></div>
|
|
|
|
<div class="codewrapper">
|
|
<pre><code class="lang-csharp hljs">public static bool HasDynamicEntry(JsonObject json)</code></pre>
|
|
</div>
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|
|
|
<h4 class="section">Parameters</h4>
|
|
<dl class="parameters">
|
|
<dt><code>json</code> <a class="xref" href="https://learn.microsoft.com/dotnet/api/system.text.json.nodes.jsonobject">JsonObject</a></dt>
|
|
<dd></dd>
|
|
</dl>
|
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|
<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></dd>
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</dl>
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<a id="Hi_NcParsers_Syntaxs_TransformationUtil_MakePivotTransformMat_" data-uid="Hi.NcParsers.Syntaxs.TransformationUtil.MakePivotTransformMat*"></a>
|
|
|
|
<h3 id="Hi_NcParsers_Syntaxs_TransformationUtil_MakePivotTransformMat_Hi_Numerical_Xyzabc_IMachineKinematics_Hi_Geom_Vec3d_" data-uid="Hi.NcParsers.Syntaxs.TransformationUtil.MakePivotTransformMat(Hi.Numerical.Xyzabc.IMachineKinematics,Hi.Geom.Vec3d)">
|
|
MakePivotTransformMat(IMachineKinematics, Vec3d)
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|
|
|
</h3>
|
|
|
|
<div class="markdown level1 summary"><p>Builds the <a class="xref" href="Hi.NcParsers.Syntaxs.TransformationUtil.html#Hi_NcParsers_Syntaxs_TransformationUtil_PivotTransformSource">PivotTransformSource</a> Mat4d — an
|
|
empirically-constructed Pn→MC rigid-affine transform at the block's
|
|
endpoint ABC. Equivalent to
|
|
<code>kinematics.PnToMc(pn_input, normal).Point</code> when applied to
|
|
a Pn-frame point, but expressed as a reusable Mat4d so the chain
|
|
stays a pure matrix product (no per-point IK call inside
|
|
<a class="xref" href="Hi.NcParsers.Syntaxs.TransformationUtil.html#Hi_NcParsers_Syntaxs_TransformationUtil_GetComposedTransform_System_Text_Json_Nodes_JsonObject_">GetComposedTransform(JsonObject)</a>).</p>
|
|
<p>
|
|
Constructed by probing <a class="xref" href="Hi.Numerical.Xyzabc.IMachineKinematics.html#Hi_Numerical_Xyzabc_IMachineKinematics_McToPn_Hi_Geom_DVec3d_">McToPn(DVec3d)</a> at
|
|
the four standard basis points (origin + XYZ unit vectors) at the
|
|
target ABC to derive <code>K(abc)</code>, and similarly at ABC=0 to derive
|
|
<code>K(0)</code>; returns <code>K(0) · K(abc).GetInverse()</code>. Topology-
|
|
agnostic — works for any affine kinematic chain regardless of axis
|
|
order. Legacy <a class="xref" href="Hi.Numerical.Xyzabc.IMachineKinematics.html#Hi_Numerical_Xyzabc_IMachineKinematics_PnToMc_Hi_Geom_DVec3d_Hi_Geom_DVec3d__">PnToMc(DVec3d, out DVec3d)</a> remains the
|
|
reference oracle.
|
|
</p>
|
|
</div>
|
|
<div class="markdown level1 conceptual"></div>
|
|
|
|
<div class="codewrapper">
|
|
<pre><code class="lang-csharp hljs">public static Mat4d MakePivotTransformMat(IMachineKinematics kinematics, Vec3d abc_rad)</code></pre>
|
|
</div>
|
|
|
|
<h4 class="section">Parameters</h4>
|
|
<dl class="parameters">
|
|
<dt><code>kinematics</code> <a class="xref" href="Hi.Numerical.Xyzabc.IMachineKinematics.html">IMachineKinematics</a></dt>
|
|
<dd></dd>
|
|
<dt><code>abc_rad</code> <a class="xref" href="Hi.Geom.Vec3d.html">Vec3d</a></dt>
|
|
<dd></dd>
|
|
</dl>
|
|
|
|
<h4 class="section">Returns</h4>
|
|
<dl class="parameters">
|
|
<dt><a class="xref" href="Hi.Geom.Mat4d.html">Mat4d</a></dt>
|
|
<dd></dd>
|
|
</dl>
|
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|
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|
<a id="Hi_NcParsers_Syntaxs_TransformationUtil_MakeToolHeightMat_" data-uid="Hi.NcParsers.Syntaxs.TransformationUtil.MakeToolHeightMat*"></a>
|
|
|
|
<h3 id="Hi_NcParsers_Syntaxs_TransformationUtil_MakeToolHeightMat_Hi_Numerical_Xyzabc_IMachineKinematics_Hi_Geom_Vec3d_System_Double_" data-uid="Hi.NcParsers.Syntaxs.TransformationUtil.MakeToolHeightMat(Hi.Numerical.Xyzabc.IMachineKinematics,Hi.Geom.Vec3d,System.Double)">
|
|
MakeToolHeightMat(IMachineKinematics, Vec3d, double)
|
|
|
|
</h3>
|
|
|
|
<div class="markdown level1 summary"><p>Builds the tool-height-compensation Mat4d for a given rotary state:
|
|
translate by (tool-normal at <code class="paramref">abc_rad</code>) · <code class="paramref">height_mm</code>.
|
|
Pure translation (no rotation component); combines with the
|
|
downstream <a class="xref" href="Hi.NcParsers.Syntaxs.TransformationUtil.html#Hi_NcParsers_Syntaxs_TransformationUtil_PivotTransformSource">PivotTransformSource</a> to form the full
|
|
Pn→MC IK.</p>
|
|
</div>
|
|
<div class="markdown level1 conceptual"></div>
|
|
|
|
<div class="codewrapper">
|
|
<pre><code class="lang-csharp hljs">public static Mat4d MakeToolHeightMat(IMachineKinematics kinematics, Vec3d abc_rad, double height_mm)</code></pre>
|
|
</div>
|
|
|
|
<h4 class="section">Parameters</h4>
|
|
<dl class="parameters">
|
|
<dt><code>kinematics</code> <a class="xref" href="Hi.Numerical.Xyzabc.IMachineKinematics.html">IMachineKinematics</a></dt>
|
|
<dd></dd>
|
|
<dt><code>abc_rad</code> <a class="xref" href="Hi.Geom.Vec3d.html">Vec3d</a></dt>
|
|
<dd></dd>
|
|
<dt><code>height_mm</code> <a class="xref" href="https://learn.microsoft.com/dotnet/api/system.double">double</a></dt>
|
|
<dd></dd>
|
|
</dl>
|
|
|
|
<h4 class="section">Returns</h4>
|
|
<dl class="parameters">
|
|
<dt><a class="xref" href="Hi.Geom.Mat4d.html">Mat4d</a></dt>
|
|
<dd></dd>
|
|
</dl>
|
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</article>
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<div class="contribution d-print-none">
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