In this work we present the Karmarkar condition in terms of the structure scalars obtained from the orthogonal decomposition of the Riemann tensor. This the new expression becomes an algebraic relation among the physical variables, and not a differential equation between the metric coefficients. By using the Karmarkar scalar condition we implement a method to obtain all possible embedding class I static spherical solutions, provided the energy density profile is given. We also analyse the dynamic adiabatic case and show the incompatibility of the Kamarkar condition with several commonly assumed simplifications to the study of gravitational collapse. Finally, we consider the dissipative dynamic Karmarkar collapse and find a new solution family.