Namespace Hi.Numerical.Xyzabc

AbcTravel: The rotary travel an inverse-kinematics solve is asked to respect, as data: the configured negative / positive end of each rotary axis A, B, C in degrees, null where an end is not configured (unbounded). This is the managed form of the native mechkinematicsabc_travel_t (abc_travel_t.h) that XyzabcSolver hands to core.dll: the solver's inverse kinematics runs there, so a rotary-travel admissibility test crosses the boundary as this record, never as a delegate.

XyzabcChainCodeConvention: The XYZABC machine's conventions over chain code — what the notation of ChainCodeUtil itself knows nothing about: the reserved words w (table mount) and t (tool mount), both required, X,Y,Z,A,B,C (the axes) and S (the spindle, when t hangs from it), the default transformers those branches are seeded with (axes on the root-to-w path move negative and the others positive; the spindle turns about −Z through its origin, so a positive angle is the M03 way and the tool turns in place while the tool mount's offset is zero — a reader or builder that moves the tool mount off S's origin moves the spindle's pivot with it; the two mount arrivals carry an editable StaticTranslation; any other word is a plain component), and the limb order the derived code lists (table-mount limb first, tool-mount limb second). Reserved words are matched exactly as written, so a word differing only in letter case is a plain component. Orientation is topology: a machine lying on its side is a code whose ground carries the rotation, not a flag.

XyzabcSolver: Support to two-way conversion between MC (machine coordinate) and NP (Normal and Point).

XyzabcUtil: Utility of XYZABC device. The machine-coordinate getters and setters take any IXyzabcAxes; the topology queries (collision pairs, end-anchor checks) need the whole IXyzabcMachineTool.

ISetMcXyzabc: Abstraction for components that accept a full machine-coordinate pose (XYZ linear + ABC rotary).

IXyzabcAxes: The six machine axes of an XYZABC kinematic chain: the three linear transformers X, Y, Z and the three rotary transformers A, B, C, any of which may be absent (null). This is all the machine-coordinate getters and setters of XyzabcUtil need, and what XyzabcSolver reads to name each axis's branch to the native solver.