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<meta name="description" content="Endpoint inverse kinematics for driving an MC machine from CLSF input, expressed in the NC pipeline's transform vocabulary: when the pipeline's resolves to a live solver (the machining chain is an IXyzabcChain), each pure-CL motion block gets a section (the active tool's attacher→tip length) plus its chain entry — a translation along the workpiece-frame tool axis, mirroring the RTCP entry of ;a chain entry — anchored to the workpiece frame, absorbing the fixture topology (workpiece→Pn, wired on ) together with the Pn→MC kinematics at the solved endpoint rotary state;the solved rotary axes in raw degrees on (wrapped afterwards by ) — machine XYZ is not written here; the shared composes it from ProgramXyz × chain exactly like the NC pipeline. Without a solver (pure-CL ClMillingDevice project) this syntax is inert and the pipeline stays pure CL. Entry Kind follows the block's posture: when the solved rotary endpoint cyclically equals the previous block's modal state the entries are (contour-valid), else (endpoint snapshot; path interpolation stays in CL space with per-step IK in / ). A block whose finished chain has no Dynamic entry downgrades to — the same dispatch the NC pipeline uses, where MC-linear and CL-linear tip paths coincide and per-step IK is unnecessary. When the endpoint cannot be solved (e.g. a tilted normal on a 3-axis machine) the block's MotionEvent (and arc payload) is removed together with its ProgramXyz and transform chain — so composes nothing and the modal MC lookback skips the unreachable block — and a validation error anchors to the CLSF line; the machine holds position over the bad block.">
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<article data-uid="Hi.Numerical.ClsfParsers.ClToMcTransformSyntax">
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<h1 id="Hi_Numerical_ClsfParsers_ClToMcTransformSyntax" data-uid="Hi.Numerical.ClsfParsers.ClToMcTransformSyntax" class="text-break">
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Class ClToMcTransformSyntax
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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.Numerical.html">Numerical</a>.<a class="xref" href="Hi.Numerical.ClsfParsers.html">ClsfParsers</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>Endpoint inverse kinematics for driving an MC machine from CLSF input,
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expressed in the NC pipeline's transform vocabulary: when the pipeline's
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<a class="xref" href="Hi.NcParsers.Dependencys.SystemWired.NcKinematicsDependency.html">NcKinematicsDependency</a> resolves to a live solver (the
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machining chain is an <code>IXyzabcChain</code>), each pure-CL motion block
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gets</p>
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<ul><li>a <a class="xref" href="Hi.NcParsers.Keywords.ToolHeightCompensation.html">ToolHeightCompensation</a> section (the active tool's
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attacher→tip length) plus its chain entry — a translation along the
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workpiece-frame tool axis, mirroring the RTCP entry of
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<a class="xref" href="Hi.NcParsers.LogicSyntaxs.G43p4RtcpSyntax.html">G43p4RtcpSyntax</a>;</li><li>a <a class="xref" href="Hi.NcParsers.Syntaxs.TransformationUtil.html#Hi_NcParsers_Syntaxs_TransformationUtil_PivotTransformSource">PivotTransformSource</a> chain entry
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— <a class="xref" href="Hi.NcParsers.Syntaxs.TransformationUtil.html#Hi_NcParsers_Syntaxs_TransformationUtil_MakePivotTransformMat_Hi_Numerical_Xyzabc_IMachineKinematics_Hi_Geom_Vec3d_Hi_Geom_Mat4d_">MakePivotTransformMat(IMachineKinematics, Vec3d, Mat4d)</a>
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anchored to the workpiece frame, absorbing the fixture topology
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(workpiece→Pn, wired on
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<a class="xref" href="Hi.NcParsers.Dependencys.SystemWired.NcKinematicsDependency.html#Hi_NcParsers_Dependencys_SystemWired_NcKinematicsDependency_ProgramZeroToPnProvider">ProgramZeroToPnProvider</a>) together
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with the Pn→MC kinematics at the solved endpoint rotary state;</li><li>the solved rotary axes in raw degrees on
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<a class="xref" href="Hi.NcParsers.Keywords.MachineCoordinateState.html">MachineCoordinateState</a> (wrapped afterwards by
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<a class="xref" href="Hi.NcParsers.LogicSyntaxs.McAbcCyclicPathSyntax.html">McAbcCyclicPathSyntax</a>) — machine XYZ is <b>not</b> written
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here; the shared <a class="xref" href="Hi.NcParsers.LogicSyntaxs.McXyzSyntax.html">McXyzSyntax</a> composes it from
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<code>ProgramXyz × chain</code> exactly like the NC pipeline.</li></ul>
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Without a solver (pure-CL <code>ClMillingDevice</code> project) this syntax is
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inert and the pipeline stays pure CL.
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<p>
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Entry <code>Kind</code> follows the block's posture: when the solved rotary
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endpoint cyclically equals the previous block's modal state the entries
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are <a class="xref" href="Hi.NcParsers.Syntaxs.TransformationUtil.html#Hi_NcParsers_Syntaxs_TransformationUtil_KindStatic">KindStatic</a> (contour-valid), else
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<a class="xref" href="Hi.NcParsers.Syntaxs.TransformationUtil.html#Hi_NcParsers_Syntaxs_TransformationUtil_KindDynamic">KindDynamic</a> (endpoint snapshot; path
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interpolation stays in CL space with per-step IK in
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<a class="xref" href="Hi.Numerical.Acts.ActClLinearMcXyzabcContour.html">ActClLinearMcXyzabcContour</a> /
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<a class="xref" href="Hi.Numerical.Acts.ActClArcMcXyzabcContour.html">ActClArcMcXyzabcContour</a>). A
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<a class="xref" href="Hi.NcParsers.Keywords.Generic.MotionForm.html#Hi_NcParsers_Keywords_Generic_MotionForm_ClLinear">ClLinear</a> block whose finished chain has no
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Dynamic entry downgrades to <a class="xref" href="Hi.NcParsers.Keywords.Generic.MotionForm.html#Hi_NcParsers_Keywords_Generic_MotionForm_McLinear">McLinear</a> — the same
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<a class="xref" href="Hi.NcParsers.Syntaxs.TransformationUtil.html#Hi_NcParsers_Syntaxs_TransformationUtil_HasDynamicEntry_System_Text_Json_Nodes_JsonObject_">HasDynamicEntry(JsonObject)</a> dispatch the NC
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pipeline uses, where MC-linear and CL-linear tip paths coincide and
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per-step IK is unnecessary.
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</p>
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<p>
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When the endpoint cannot be solved (e.g. a tilted normal on a 3-axis
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machine) the block's <code>MotionEvent</code> (and arc payload) is removed
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together with its <code>ProgramXyz</code> and transform chain — so
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<a class="xref" href="Hi.NcParsers.LogicSyntaxs.McXyzSyntax.html">McXyzSyntax</a> composes nothing and the modal MC lookback
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skips the unreachable block — and a validation error anchors to the CLSF
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line; the machine holds position over the bad block.
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</p>
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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 class ClToMcTransformSyntax : ISituNcSyntax, INcSyntax, IMakeXmlSource</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">ClToMcTransformSyntax</span></div>
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</dd>
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</dl>
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<dl class="typelist implements">
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<dt>Implements</dt>
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<dd>
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<div><a class="xref" href="Hi.NcParsers.Syntaxs.ISituNcSyntax.html">ISituNcSyntax</a></div>
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<div><a class="xref" href="Hi.NcParsers.Syntaxs.INcSyntax.html">INcSyntax</a></div>
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<div><a class="xref" href="Hi.Common.XmlUtils.IMakeXmlSource.html">IMakeXmlSource</a></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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<dl class="typelist extensionMethods">
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<dt>Extension Methods</dt>
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<dd>
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<div>
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<a class="xref" href="Hi.Common.DuplicateUtil.html#Hi_Common_DuplicateUtil_TryDuplicate__1___0_System_Object___">DuplicateUtil.TryDuplicate<TSelf>(TSelf, params object[])</a>
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</div>
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<div>
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<a class="xref" href="Hi.Common.InvokeUtil.html#Hi_Common_InvokeUtil_SelfInvoke__1___0_System_Action___0__">InvokeUtil.SelfInvoke<TSrc>(TSrc, Action<TSrc>)</a>
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</div>
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<div>
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<a class="xref" href="Hi.Common.InvokeUtil.html#Hi_Common_InvokeUtil_SelfInvoke__2___0_System_Func___0___1__">InvokeUtil.SelfInvoke<TSrc, TDst>(TSrc, Func<TSrc, TDst>)</a>
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</div>
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<div>
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<a class="xref" href="Hi.Coloring.ColorUtil.html#Hi_Coloring_ColorUtil_GetGloomyColor_System_Object_System_Double_System_Double_">ColorUtil.GetGloomyColor(object, double, double)</a>
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</div>
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<div>
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<a class="xref" href="Hi.Common.NameUtil.html#Hi_Common_NameUtil_GetSelectionName_System_Object_">NameUtil.GetSelectionName(object)</a>
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</div>
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<div>
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<a class="xref" href="Hi.Common.StringUtil.html#Hi_Common_StringUtil_GetPropertyStringIfToStringNotOverloaded_System_Object_System_Boolean_System_Boolean_">StringUtil.GetPropertyStringIfToStringNotOverloaded(object, bool, bool)</a>
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</div>
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<div>
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<a class="xref" href="Hi.Parallels.LockUtil.html#Hi_Parallels_LockUtil_Lock_System_Object_">LockUtil.Lock(object)</a>
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</div>
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</dd></dl>
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<h2 class="section" id="properties">Properties
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</h2>
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<a id="Hi_Numerical_ClsfParsers_ClToMcTransformSyntax_Name_" data-uid="Hi.Numerical.ClsfParsers.ClToMcTransformSyntax.Name*"></a>
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<h3 id="Hi_Numerical_ClsfParsers_ClToMcTransformSyntax_Name" data-uid="Hi.Numerical.ClsfParsers.ClToMcTransformSyntax.Name">
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Name
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</h3>
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<div class="markdown level1 summary"><p>Syntax kind name (typically the concrete type name).</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 string Name { get; }</code></pre>
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</div>
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<h4 class="section">Property 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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<a id="Hi_Numerical_ClsfParsers_ClToMcTransformSyntax_XName_" data-uid="Hi.Numerical.ClsfParsers.ClToMcTransformSyntax.XName*"></a>
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<h3 id="Hi_Numerical_ClsfParsers_ClToMcTransformSyntax_XName" data-uid="Hi.Numerical.ClsfParsers.ClToMcTransformSyntax.XName">
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XName
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</h3>
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<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>
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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 string XName { get; }</code></pre>
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</div>
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<h4 class="section">Property 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_Numerical_ClsfParsers_ClToMcTransformSyntax_Build_" data-uid="Hi.Numerical.ClsfParsers.ClToMcTransformSyntax.Build*"></a>
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||
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<h3 id="Hi_Numerical_ClsfParsers_ClToMcTransformSyntax_Build_Hi_Common_Collections_LazyLinkedListNode_Hi_NcParsers_Syntaxs_SyntaxPiece__System_Collections_Generic_List_Hi_NcParsers_Dependencys_INcDependency__Hi_NcParsers_NcDiagnosticProgress_" data-uid="Hi.Numerical.ClsfParsers.ClToMcTransformSyntax.Build(Hi.Common.Collections.LazyLinkedListNode{Hi.NcParsers.Syntaxs.SyntaxPiece},System.Collections.Generic.List{Hi.NcParsers.Dependencys.INcDependency},Hi.NcParsers.NcDiagnosticProgress)">
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Build(LazyLinkedListNode<SyntaxPiece>, List<INcDependency>, NcDiagnosticProgress)
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</h3>
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<div class="markdown level1 summary"><p>Build syntax arrangement into the
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<code class="paramref">syntaxPieceNode</code> in-place.</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 void Build(LazyLinkedListNode<SyntaxPiece> syntaxPieceNode, List<INcDependency> ncDependencyList, NcDiagnosticProgress ncDiagnosticProgress)</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>syntaxPieceNode</code> <a class="xref" href="Hi.Common.Collections.LazyLinkedListNode-1.html">LazyLinkedListNode</a><<a class="xref" href="Hi.NcParsers.Syntaxs.SyntaxPiece.html">SyntaxPiece</a>></dt>
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<dd></dd>
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<dt><code>ncDependencyList</code> <a class="xref" href="https://learn.microsoft.com/dotnet/api/system.collections.generic.list-1">List</a><<a class="xref" href="Hi.NcParsers.Dependencys.INcDependency.html">INcDependency</a>></dt>
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<dd></dd>
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<dt><code>ncDiagnosticProgress</code> <a class="xref" href="Hi.NcParsers.NcDiagnosticProgress.html">NcDiagnosticProgress</a></dt>
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<dd></dd>
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</dl>
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<a id="Hi_Numerical_ClsfParsers_ClToMcTransformSyntax_MakeXmlSource_" data-uid="Hi.Numerical.ClsfParsers.ClToMcTransformSyntax.MakeXmlSource*"></a>
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<h3 id="Hi_Numerical_ClsfParsers_ClToMcTransformSyntax_MakeXmlSource_System_String_System_String_System_Boolean_" data-uid="Hi.Numerical.ClsfParsers.ClToMcTransformSyntax.MakeXmlSource(System.String,System.String,System.Boolean)">
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MakeXmlSource(string, string, bool)
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</h3>
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<div class="markdown level1 summary"><p>Creates an XML representation of the object.
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This method may also generate additional resources such as related files.</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 XElement MakeXmlSource(string baseDirectory, string relFile, bool exhibitionOnly)</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>baseDirectory</code> <a class="xref" href="https://learn.microsoft.com/dotnet/api/system.string">string</a></dt>
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<dd><p>The base directory for resolving relative paths</p>
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</dd>
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<dt><code>relFile</code> <a class="xref" href="https://learn.microsoft.com/dotnet/api/system.string">string</a></dt>
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<dd><p>The relative file path for the XML source</p>
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</dd>
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||
<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_Numerical_ClsfParsers_ClToMcTransformSyntax_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_Numerical_ClsfParsers_ClToMcTransformSyntax_Reg_" data-uid="Hi.Numerical.ClsfParsers.ClToMcTransformSyntax.Reg*"></a>
|
||
|
||
<h3 id="Hi_Numerical_ClsfParsers_ClToMcTransformSyntax_Reg_Hi_Common_XmlUtils_XFactory_" data-uid="Hi.Numerical.ClsfParsers.ClToMcTransformSyntax.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">
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||
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