Table of Contents

Interface IMachineKinematics

Namespace
Hi.Numerical.Xyzabc
Assembly
HiMech.dll

Device for UniNc controller.

public interface IMachineKinematics
Extension Methods

Methods

McAbcToMat(Vec3d)

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

Mat4d McAbcToMat(Vec3d mcAbc_rad)

Parameters

mcAbc_rad Vec3d

The machine ABC coordinates in radians

Returns

Mat4d

The tilt matrix

McToMat(DVec3d)

Converts machine coordinates to an attacher matrix.

Mat4d McToMat(DVec3d mcXyzabc)

Parameters

mcXyzabc DVec3d

The machine coordinates

Returns

Mat4d

The attacher matrix

McToPn(DVec3d)

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

DVec3d McToPn(DVec3d mcXyzabc)

Parameters

mcXyzabc DVec3d

machine coordinate. ABC is in radian.

Returns

DVec3d

tool attacher Pn (Point and Normal)

OrientationToMcAbc(Mat4d, out Vec3d)

Converts a tilt matrix to machine ABC coordinates. the tilt matrix is the transformation matrix from table to attacher. the solution only fit the orientation part of the tiltMat.

bool OrientationToMcAbc(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

OrientationToMcAbc(Mat4d, Func<Vec3d, bool>, out Vec3d)

OrientationToMcAbc(Mat4d, out Vec3d) restricted to the rotary positions isMcAbcAdmissible accepts (the machine's rotary travel, typically). A full orientation fixes the rotary positions up to axis periodicity, so a solution the predicate refuses is a posture this machine cannot take: the conversion then fails (false) and leaves the solver state as it was, so that the caller can fall back to OrientationToMcAbc(Vec3d, Func<Vec3d, bool>, out Vec3d), where the free rotation about the tool axis opens the other branch. A null predicate admits everything.

bool OrientationToMcAbc(Mat4d tiltMat, Func<Vec3d, bool> isMcAbcAdmissible, out Vec3d mcAbc_rad)

Parameters

tiltMat Mat4d

The tilt matrix to convert.

isMcAbcAdmissible Func<Vec3d, bool>

Accepts a machine ABC (radians) or refuses it; null admits everything.

mcAbc_rad Vec3d

Output machine ABC coordinates in radians.

Returns

bool

Whether an admissible conversion was found.

OrientationToMcAbc(Vec3d, out Vec3d)

Converts a target tool axial direction (endpoint orientation) to machine ABC coordinates. Only the axial alignment is constrained; rotation about the tool axis is free.

Use this in place of OrientationToMcAbc(Mat4d, out Vec3d) when the rotation about the tool axis is irrelevant (e.g. G53.1 rotary positioning). The axial-only solve avoids the redundant 6-target full-matrix constraint and is more likely to converge for tilt configurations such as G68.2 I180 J90 K0. 

bool OrientationToMcAbc(Vec3d toolAxialNormal, out Vec3d mcAbc_rad)

Parameters

toolAxialNormal Vec3d

Target tool axial direction in table coordinates (the third row of the tilt matrix; e.g. AxialNormal).

mcAbc_rad Vec3d

Output machine ABC coordinates in radians.

Returns

bool

Whether the conversion was successful.

OrientationToMcAbc(Vec3d, Func<Vec3d, bool>, out Vec3d)

OrientationToMcAbc(Vec3d, out Vec3d) preferring the solution branch isMcAbcAdmissible accepts. The axial-only problem has two branches on a two-rotary-axis machine (on a table-table A/C: (A, C) and (−A, C+180°)); the plain overload returns the branch nearest the solver's seed, which from the rotary pole (A0 C0) is the one the tilt's azimuth happens to favour — half the time the branch a cradle table with an asymmetric tilt travel cannot reach (CHEM20180926 N100: G68.2 I210 J-90 + G53.1 solved to A=+90° on a −120°…+30° A axis). When the nearest branch is refused, an implementation with a real solver searches the other branches and returns the admissible one nearest the seed; when none is admissible it returns the refused solution and true, and the stroke-limit check downstream reports it. A null predicate makes this the plain overload. The default implementation is the plain solve — the predicate is advisory for an implementation without a solver.

bool OrientationToMcAbc(Vec3d toolAxialNormal, Func<Vec3d, bool> isMcAbcAdmissible, out Vec3d mcAbc_rad)

Parameters

toolAxialNormal Vec3d

Target tool axial direction in table coordinates.

isMcAbcAdmissible Func<Vec3d, bool>

Accepts a machine ABC (radians) or refuses it; null admits everything.

mcAbc_rad Vec3d

Output machine ABC coordinates in radians.

Returns

bool

Whether the conversion was successful (admissible or not).

PnToMc(DVec3d, out DVec3d)

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

bool PnToMc(DVec3d pn, out DVec3d mcXyzabc_rad)

Parameters

pn DVec3d

tool attacher Pn (Point and Normal)

mcXyzabc_rad DVec3d

machine coordinate (ABC in radian)

Returns

bool

whether conversion succeeded