Table of Contents

Class PivotTransformationSyntax

Namespace
Hi.NcParsers.LogicSyntaxs
Assembly
HiMech.dll

Writes the PivotTransformSource entry into ProgramToMcTransform on every block, capturing the Pn→MC kinematic rigid transform for the block's endpoint rotary state. Mirrors legacy HardNcLine.GetProgramXyz's use of McToPn(DVec3d) — without this entry, the transform chain would miss the rotary rotation on any block whose MachineCoordinate.ABC is non-zero, and McXyzSyntax (and ProgramXyzSyntax'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. G43p4RtcpSyntax is orthogonal and only governs the dynamic-rotary KindKey tagging used by LinearMotionSyntax to pick the motion form.

Chain position: must run after all Pn-frame writers (IsoG68p2TiltSyntax, ToolHeightOffsetSyntax, G43p4RtcpSyntax, IsoCoordinateOffsetSyntax, brand-specific coord offset syntaxes) so the PivotTransform entry naturally lands as the last chain element. Must run before McXyzSyntax / ProgramXyzSyntax so they see the completed chain.

Silently no-ops when IMachineKinematics is absent (3-axis configurations without rotary kinematics). 

public class PivotTransformationSyntax : ISituNcSyntax, INcSyntax, IMakeXmlSource
Inheritance
PivotTransformationSyntax
Implements
Inherited Members
Extension Methods

Examples

Identity probe — a TestDeps.Kinematics stub that makes McToPn pass through XYZ and return a fixed UnitZ normal, so MakePivotTransformMat(IMachineKinematics, Vec3d)'s four-basis probing returns identity K(0) and K(abc), and the product K(0) * K(abc).GetInverse() collapses to identity. With no current or previous MachineCoordinateState, endpoint ABC defaults to (0,0,0); no dynamic entries exist yet so the entry is tagged KindStatic. Case for the dep-guard contract only; the real kinematics paths are covered by the cases below. #BeforeBuild:

{}

#AfterBuild:

{
  "ProgramToMcTransform": [
    {
      "Source": "PivotTransform",
      "Kind": "Static",
      "Mat4d": [1,0,0,0, 0,1,0,0, 0,0,1,0, 0,0,0,1]
    }
  ]
}

Real XyzabcSolver (table-A / head-B 5-axis layout [O][Z][A][w];[O][Y][X][B][S][t]) with current block declaring MachineCoordinateState.A = 45 — endpoint ABC = (π/4, 0, 0) radians. Table-side A rotation moves the tool position in the workpiece frame, so MakePivotTransformMat's four-basis probe returns a non-identity rigid matrix. The exact Mat4d below was captured from BuildAndDump's actual output (per gotcha #2: rad/deg trig drift, always dump first): #BeforeBuild:

{ "MachineCoordinateState": { "A": 45 } }

#AfterBuild:

{
  "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
      ]
    }
  ]
}

Stub TestDeps.Kinematics with a pre-existing Dynamic chain entry on the current block (as G43p4RtcpSyntax would have written when RTCP is dynamic). HasDynamicEntry(JsonObject) returns true so the PivotTransform entry is tagged KindDynamic even though the math itself collapses to identity: #BeforeBuild:

{
  "ProgramToMcTransform": [
    {
      "Source": "ToolHeightCompensation",
      "Kind": "Dynamic",
      "Mat4d": [1,0,0,0, 0,1,0,0, 0,0,1,0, 0,0,0,1]
    }
  ]
}

#AfterBuild:

{
  "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]
    }
  ]
}

Constructors

PivotTransformationSyntax()

Initializes a new instance with default settings.

public PivotTransformationSyntax()

PivotTransformationSyntax(XElement)

Initializes a new instance by deserializing from the given XML element.

public PivotTransformationSyntax(XElement src)

Parameters

src XElement

Source XML element.

Properties

Name

Syntax kind name (typically the concrete type name).

public string Name { get; }

Property Value

string

XName

XML element name used to register this syntax with XFactory.

public static string XName { get; }

Property Value

string

Methods

Build(LazyLinkedListNode<SyntaxPiece>, List<INcDependency>, NcDiagnosticProgress)

Build syntax arrangement into the syntaxPieceNode in-place.

public void Build(LazyLinkedListNode<SyntaxPiece> syntaxPieceNode, List<INcDependency> ncDependencyList, NcDiagnosticProgress ncDiagnosticProgress)

Parameters

syntaxPieceNode LazyLinkedListNode<SyntaxPiece>
ncDependencyList List<INcDependency>
ncDiagnosticProgress NcDiagnosticProgress

MakeXmlSource(string, string, bool)

Creates an XML representation of the object. This method may also generate additional resources such as related files.

public XElement MakeXmlSource(string baseDirectory, string relFile, bool exhibitionOnly)

Parameters

baseDirectory string

The base directory for resolving relative paths

relFile string

The relative file path for the XML source

exhibitionOnly bool

if true, the extended file creation is suppressed.

Returns

XElement

An XML element representing the object's state

Remarks

For the demand of easy moving source folder (especially project folder) without configuration file path corruption, the relative file path is applied. The baseDirectory is typically the folder at the nearest configuration file folder. Since the folder can be moving with the configuration file.

Reg(XFactory)

Registers this type's deserializer with the given XFactory (or Default when factory is null). Idempotent.

public static void Reg(XFactory factory = null)

Parameters

factory XFactory