Kinematics and Frames - List of features available in SolidGeometry 5.6

attachmentpointsofA1B1TP	returns the grid points relative to effector from A1, B1 and a coordinate or pase
B1ofA1	returns a second attachment point from a 1st Attachment point, distance and angle
CPLanimateTL	generic fnct to animate a set of contour on indivual pathes
CPLanimateTLasSG	generic fnct to animate a set of contour on indivual pathes as 2.5 layered solid geometries
CPLcrossCPLpathlimit	collision detection along a path in 2D
CPLofA1B1P	returns a CPL exactly for the given three points
CPLofSGgears	provides the 2D envelope for a planar gearbox
CPLplotTL	simply plots a contour transferred wrt to list fo frames
CPLsubtractTL	subtract a moving contour from another moving contour
CPLsubtractTLasSG	collison based subtraction of moving contours
CPLsweepTL	returns the contour of a path swept contour
CPLunionTL	adds a moving contour to another moving contour
crosspointsVLFLofT	returns the crossing points of the axis of a coordinate system
diffT	returns the difference between 2 4x4 HT matrices
ELgraphleafs	separates open branches in a edge list tree
ezofT	just returns the ez vector of an HT Matrix as row
forwkinrplan3	forward kinematic of a planar rz 2 arm rotating around an arm z axis
HTplot	plots a HT matrix
invkinrplan3	returns the angles for a rotating planar two arm kinematic
iscollofSG	calculate collision vertices of two solids or a solid chain
isequalT	returns the difference between 2 4x4 HT matrices
isT	returns whether a variable is a HT matrix or a list of HT matrices
KMchain	calculates a kinematic structure from a given frame chain
KMofSGs	returns a Kinematic model for a chain of solids
KMplot	plots all parts of a kinematic model
KMreset	set all position frames of a kinematic model to eye(4)
KMT	returns a HT-Matrix from a kinematic model
L1L2RofBasenAttachmentpoints	returns dimensions from base points and attachment points
layerspacerlength	returns the levels of the spacer for collision avoidance and shaping
mat2celldim3	converts an [a:b:n] array into a cell list {n x [a b]}
miofPLA0B0	returns the index of the minimal relative angle to the axis between A0 and B0
mofzd	returns the module if diameter and number of teeth are known
mzs	returns a modified module for a giben number of teeth and slot
PLofT	returns a point list path from the translation part of a list of HT matrices
pofSG	returns a position based on spatial relations of SGtransrelSG
pofT	returns the translation part of frames or frame lists
radofT	returns only the radian turning angles of a list of T@ matrices
ROBgetJointPosition	returns the position of a set of joints of a robot
SGanalyzecrosscenter	approximates the center points of intruding surfaces
SGanalyzeJointFaces	returns joint type, Stator and Mover and Frame of Joint
SGattach2SG	Assembles parts interactively by surface attachment
SGcenterFS	directly centers the desired feature surface
SGcutTextrudeT	returns a cutted an elongated solid by extrusion of the crosssection plane
SGgearchainrotate	rotates the axes of a gear chain
SGgearchainstraight	brings all the axes of a gear chain in a straight line
SGgearchainwindup	returns a gear chain for a windup motor or a minimal size gear box - use SGgearstamp afterwards
SGgearstamp	Marks gear wheels with numbers or text
SGisinternalframe	returns weather a frame is an internal frame of a solid
SGissurfaceframe	returns weather a frame is an outword or inward frame for a solid
SGManipulator03Base	Base, and Hand for Manipulator Design # 3
SGManipulator03Link	Link and Link extender for Manipulator Design # 3
SGManipulator04Base	Plate, Base, and Hand for Manipulator Design # 4
SGManipulator04Link	Link and Link extender for Manipulator Design # 4
SGManipulator05Base	Plate, Base, and Hand for Manipulator Design # 5
SGManipulator05Link	Link and Link extender for Manipulator Design # 5
SGManipulator07Link	Link and Link extender for Manipulator Design # 4
SGManipulatorBase	Plate, Base, and Hand for Manipulator Design # 4
SGManipulatorLink	Link with 2 Frames to create mechanisms or
SGN2SGT	finds hidden coded frames in a SG and creates frames for the solid
SGofR12	creates a solid to show the minimal solid size for assembly methods
SGrotate	returns a solid rotated around the center of the solid
SGT2SGN	inserts frame information into the vertices and facets of a SG and removes the frame structures
SGTalignT	aligns two frame to have same ey-vectors by opposite ez vectors
SGTalignT	aligns two frame to have same ey-vectors by opposite ez vectors
SGTbaseunderSG	creates a solid as base plated under a given solid
SGTBB	replaces the complex surface geometry by a simplified bounding box
SGTcalibchain	changes the base frames of a set of solid geoemtries
SGTchain	returns the spatial transformed solids of a kinematic chain
SGTchainanimation	creates an animation of kinematic chains
SGTcopy	copies Frames from one Solid into another one
SGTcopyasopponent	copies a frame that crosses a surface as surface frame
SGTcopyinteralframes	copies frames of a solid which are located into the goal solid
SGTcopynames	copies Frames from one Solid into another one
SGTcopysurfaceframesout	copies all frames from one solid to another solid if the frames are outward frames
SGTcut	cuts a solid a an internal frame into separated pieced by a blade
SGTduplicateframe	duplicates a single frame of solid using a new name
SGTframeChain	returns a list of frame connections for a cell list if solids
SGTframerot	returns a frame of a solid
SGTframeselect	Fnct to select frame set
SGTframeselectrename	select frames, rename one, and remove the selected frames that were not renamed
SGTget	returns a named frame of a solid geometry
SGTgetframeinfo	returns some basic information about a frame inside a solid
SGTmatchT	matches two frame to have same ey-vectors ez and ex vectors
SGTofDenavitHartenberg	returns from Denavit-Hartenberg values, a solid, frames and a symbolic description for DH
SGTofDHset	returns the solids for a kinematic chain defined by DH parameter
SGtransTui	interactive fnct to fix a surface to the ground or another solid's surface
SGTregisterframes	finds the optimal HT matrix to register two sets of frames
SGTremove	removes a transformation frame from a solid geometry
SGTremovedistframes	removes frames that are outside the bounding box of the surface of a solid
SGTremoverelT	removes frames from an SGT that fullfill a condition
SGTrename	renames a frame of a solid geometry
SGTretain	removes frames but retains some
SGTrotate	returns a solid rotated around a Frame coordinate System
SGTset	sets or replaces a named frame of a solid geometry
SGTsetBF	set frames 'B' and 'F' at default positions
SGTsetBFsimple	adds base frame and follower frame to a solid
SGTsetinternalframe	records coordinate frames based on optional user interaction
SGTsetofFS	creates a frame based on a features surface and a selector
SGTsetofRL	creates frames from radial contour of a surface
SGTsetofRLcenter	returns a frame of a surface that is defined by drilling holes
SGTsetorigin	moves the solid into a position that the base frame become the origin
SGTsetTL	adds a set of frames to a solid
SGTswap	Swaps two frames of a Solid
SGTtransR	rotates a selected frame of a solid
SGTtransT	Desired, but ambiguous, so only a help text is displayed.
SGTui	returns a HT matrix for a manuel selected union space
SGturnfaces	rotates a solid wrt to the largest orthogonal feature surfaces
slpitch	returns the required fit dimension for steep screw thread
T2ofCVLpath	Returns Start frame and End Frame for a Contour path
T2ofT3	returns 3x3 matrices from 4x4 matrices
T3ofT2	converts a 3x3 HT-Matrix into a 4x4 HT-Matrix
TcopyVLez	creates frames at specific positions in space
Tflipz	rotates / flips the ez axis of a HT matrix around by by 90 degree
TLadjustR	takes a List of Frames and adjustst start and end frame to T1 and T2
TLL2TL	Converts a long list of frames into an array of frames
TLof2T	returns a list of Frames between a start frame and an end frame
TLofn	returns a frame 1 of 36 with different ez vector and orientation
TLofPL	returns transformation frames for a PL
TLplots	plots a list of HT matrices with plane, normal vector and prthogonal vectors
TLvaryfrom	this fnct takes a frame list and adds small values to the position and orientation
TmirrorTxy	mirrors frames or cell list of frames
Tof2P	returns a 4x4 HT matrix given by a point p and a vector ez [1st named T2P]
Tof2Tcrossez	adjusts the position of frames relative to a crossing point with another frame
Tof3P	returns a 4x4 HT matrix given by three points (sort3P)
TofA1B1GPL	Returns the Frame of the Pose wrt to
Tofchar	creates an HT frame based on spatial relations
TofCPLT	creates a list of frames inside a CPL or a planar CVL
TofcrossedSG	finds a surface point using ez of T and creates a frame
TofDPhi	returns a 3x3 HT matrix for 2D link
TofFS	returns a HT matrix for a speficied feature surface
TofFSoutlinecenter	returns the HT Matrix fo the center of the FS
TofFSRLcenter	returns a Frame based on the smallest found radii inside a surface
TofFSui	returns the frames of a touched surface
TofLR	returns a 2D link matrix or a 3D link matrix
Tofn	provides a standardized test frame from 1 of 36 with different ez-vector and orientation
Tofplaneparam	returns the T matrix form for a plane parameter description - ax+by+cz+d=0
TofPLpath	creates a list of HT matrices from a point list path
TofR	returns a HT matrix for an R matrix
TofRd	creates a frame after rotation in distance d along new ex
TofSGez	finds simple angle by ez vector using SGTsetBF
TofWheel	returns a HT matrix for a 2 wheel kinematic movement
tplotangle	plot for a list of HT matrices the angle, angle velocity and angle acceleration
Trelation	creates a frame relative to another frame
Trotate	returns a HT matrix rotated by
Tsvd	Correction fnct for an HT matrix for orthogonalizing a matrix after multiplication
uniqueT	returns the difference between 2 4x4 HT matrices
vecinterpolate	returns a vector row interpolation by
VLisbelowT	returns wether a list of points or a cell list of frames is under a frame
VLof2TR	returns a path with minimal number of axuiliary points to come from frame A to Frame B
VLofT	returns the origin T(1:3,4) of a frame list
VLofTtoP	returns a list o fpoints that create a shortes path towards PB with radius R
VLplotmotion	draws position, speed and acceleration of a VL
xyofez	returns for a simple ez vector the ex and ey orthonormal vectors