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 "ITcCncTrafo" class to dimension the input and output coordinates.
