Interface ICoordinateConverter

Namespace

Hi.Numerical.Xyzabc

Assembly

HiMech.dll

Device for UniNc controller.

public interface ICoordinateConverter

Extension Methods

DuplicateUtil.TryDuplicate<TSelf>(TSelf, params object[])

InvokeUtil.SelfInvoke<TSrc>(TSrc, Action<TSrc>)

InvokeUtil.SelfInvoke<TSrc, TDst>(TSrc, Func<TSrc, TDst>)

ColorUtil.GetGloomyColor(object, double, double)

NameUtil.GetSelectionName(object)

StringUtil.GetPropertyStringIfToStringNotOverloaded(object, bool, bool)

LockUtil.Lock(object)

Methods

AttacherNpToMc(DVec3d, out DVec3d)

tool attacher NP (Normal and Point) to machine coordinate. The NP is from table buckle to tool attacher.

bool AttacherNpToMc(DVec3d pn, out DVec3d mcXyzabc_rad)

Parameters

pn DVec3d

tool attacher NP (Normal and Point)

mcXyzabc_rad DVec3d

machine coordinate (ABC in radian)

Returns

bool

whether conversion succeeded

IsAxisAExisted()

Is rotary A existed.

bool IsAxisAExisted()

Returns

bool

Is rotary A existed.

IsAxisBExisted()

Is rotary B existed.

bool IsAxisBExisted()

Returns

bool

Is rotary B existed.

IsAxisCExisted()

Is rotary C existed.

bool IsAxisCExisted()

Returns

bool

Is rotary C existed.

McAbcToTiltMat(Vec3d)

Converts machine ABC coordinates to a tilt matrix. the tilt matrix is the transformation matrix from table to attacher.

Mat4d McAbcToTiltMat(Vec3d mcAbc_rad)

Parameters

mcAbc_rad Vec3d

The machine ABC coordinates in radians

Returns

Mat4d

The tilt matrix

McToAttacherMat(DVec3d)

Converts machine coordinates to an attacher matrix.

Mat4d McToAttacherMat(DVec3d mcXyzabc)

Parameters

mcXyzabc DVec3d

The machine coordinates

Returns

Mat4d

The attacher matrix

McToAttacherNp(DVec3d)

Machine coordinate to tool attacher NP (Normal and Point). The NP is from table buckle to tool attacher.

DVec3d McToAttacherNp(DVec3d mcXyzabc)

Parameters

mcXyzabc DVec3d

machine coordinate. ABC is in radian.

Returns

DVec3d

tool attacher Np (Normal and Point)

TiltMatToMcAbc(Mat4d, out Vec3d)

Converts a tilt matrix to machine ABC coordinates. the tilt matrix is the transformation matrix from table to attacher.

bool TiltMatToMcAbc(Mat4d tiltMat, out Vec3d mcAbc_rad)

Parameters

tiltMat Mat4d

The tilt matrix to convert

mcAbc_rad Vec3d

Output parameter that will contain the machine ABC coordinates in radians

Returns

bool

Whether the conversion was successful