Table of Contents

Class TransformationUtil

Namespace
Hi.NcParsers.Syntaxs
Assembly
HiMech.dll

Utilities for the EndPointProgramToMcTransform chain. Each entry is {Source, Mat4d}; entries are composed in order with pure matrix multiplication (GetComposedTransform(JsonObject)). There is no “dynamic” entry form — every source is a block-endpoint Mat4d snapshot, including RTCP-specific sources such as PivotTransformSource. Dynamic-rotary state (for motion-form selection) lives on a dedicated flag like IsRotaryDynamic, outside of this chain.

public static class TransformationUtil
Inheritance
TransformationUtil
Inherited Members

Fields

Mat4dKey

JSON key for the Mat4d snapshot inside each chain entry.

public const string Mat4dKey = "Mat4d"

Field Value

string

PivotTransformSource

Canonical source name for the RTCP pivot transform — the kinematic transform from Pn (post-G54, post-G68.2) to MC at the block's endpoint ABC. Contributed by G43p4RtcpSyntax (and its brand-specific peers in the future). Should be the last entry in the chain so that all Pn-frame operations (tilt, tool-height, coord-offset) are accumulated before the final kinematic IK.

public const string PivotTransformSource = "PivotTransform"

Field Value

string

SourceKey

JSON key for the transform origin label inside each chain entry.

public const string SourceKey = "Source"

Field Value

string

ToolHeightCompensationSource

Canonical source name for the tool-height-compensation entry (tool-normal · offset_mm along the current tool axis). Matches the ToolHeightCompensation section key read for Offset_mm.

public const string ToolHeightCompensationSource = "ToolHeightCompensation"

Field Value

string

Methods

AddOrMoveToEndTransform(JsonObject, string, Mat4d)

Removes the existing entry for source (if any) and appends a fresh entry at the end of the chain. Used by sources that must evaluate last — notably PivotTransformSource, which represents the final Pn→MC kinematic IK and therefore has to come after all Pn-frame contributions (tilt, tool-height, coord-offset).

public static void AddOrMoveToEndTransform(JsonObject json, string source, Mat4d mat)

Parameters

json JsonObject
source string
mat Mat4d

AddOrReplaceTransform(JsonObject, string, Mat4d)

Adds or replaces a named static transformation entry in the chain. If an entry with the same source already exists, it is replaced in-place. Otherwise the new entry is appended.

public static void AddOrReplaceTransform(JsonObject json, string source, Mat4d mat)

Parameters

json JsonObject
source string
mat Mat4d

GetComposedTransform(JsonObject)

Composes all entries in the chain into a single block-endpoint Mat4d (left-to-right multiplication). Pure multiplication — no special cases, no kinematic lookup. The returned matrix is valid only for the block's endpoint state; see EndPointProgramToMcTransform for the endpoint-semantic contract.

public static Mat4d GetComposedTransform(JsonObject json)

Parameters

json JsonObject

Returns

Mat4d

GetTransformBySource(JsonObject, string)

Gets a specific entry's Mat4d by source name. Returns identity if not found.

public static Mat4d GetTransformBySource(JsonObject json, string source)

Parameters

json JsonObject
source string

Returns

Mat4d

MakePivotTransformMat(IMachineKinematics, Vec3d)

Builds the PivotTransformSource Mat4d — an empirically-constructed Pn→MC rigid-affine transform at the block's endpoint ABC. Equivalent to kinematics.PnToMc(pn_input, normal).Point 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 GetComposedTransform(JsonObject)).

Constructed by probing McToPn(DVec3d) at the four standard basis points (origin + XYZ unit vectors) at the target ABC to derive K(abc), and similarly at ABC=0 to derive K(0); returns K(0) · K(abc).GetInverse(). Topology- agnostic — works for any affine kinematic chain regardless of axis order. Legacy PnToMc(DVec3d, out DVec3d) remains the reference oracle. 

public static Mat4d MakePivotTransformMat(IMachineKinematics kinematics, Vec3d abc_rad)

Parameters

kinematics IMachineKinematics
abc_rad Vec3d

Returns

Mat4d

MakeToolHeightMat(IMachineKinematics, Vec3d, double)

Builds the tool-height-compensation Mat4d for a given rotary state: translate by (tool-normal at abc_rad) · height_mm. Pure translation (no rotation component); combines with the downstream PivotTransformSource to form the full Pn→MC IK.

public static Mat4d MakeToolHeightMat(IMachineKinematics kinematics, Vec3d abc_rad, double height_mm)

Parameters

kinematics IMachineKinematics
abc_rad Vec3d
height_mm double

Returns

Mat4d