Transformation methods
The following methods must be implemented when creating a transformation (TcNcKinematicsInterfaces.h).
- virtual HRESULT TCOMAPI Forward (PTcCncTrafoParameter p)=0;
- virtual HRESULT TCOMAPI Backward (PTcCncTrafoParameter p)=0;
- virtual HRESULT TCOMAPI TrafoSupported (PTcCncTrafoParameter p, bool fwd)=0;
- virtual HRESULT TCOMAPI GetDimensions (PULONG pForwardInput, PULONG pForwardOutput)=0;
Forward | Transformation of the axis positions into the programming coordinate system. |
PTcCncTrafoParameter *p | Current parameters of the transformation |
Backward | Transformation of the programming coordinates into the axis coordinate system. |
PTcCncTrafoParameter *p | Current parameters of the transformation |
GetDimension | When the transformation is selected, a configuration request (required axis numbers) is executed once. |
ULONG * pForwardInput | Number of forward transformation input coordinates (= number of reverse transformation output coordinates) |
ULONG * pForwardInput | Number of forward transformation output coordinates (= number of reverse transformation input coordinates) |
TrafoSupported | Initialising the transformation and requesting options |
PTcCncTrafoParameter *p | Current parameters of the transformation |
bool fwd |
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Notice
The corresponding member variables must be initialised in the constructor of the "ITcCncTrafoPosOn" class to dimension the input and output coordinates.
Extending the transformation for couple kinematics and 3D distance control
This function is available as of V3.01.3081.7, V3.1.3115.0 or V4.19.0.0
If you intend to use couple kinematics or 3D distance control with the transformation you created, you must also implement the functions below.
PosOriToMcs | Transformation from a position and orientation in MCS coordinates |
PTcCncPosOriParameter *p | Current parameters of the transformation |
McsToPosOri | Transformation from MCS coordinates to a position and orientation |
PTcCncPosOriParameter *p | Current parameters of the transformation |