.. _check_orientation_condition_abs:

check_orientation_condition_abs
------------------------------------------
This function evaluates the **absolute orientation difference** between the current tool pose and the target pose along a specified axis.  
It determines whether the angular deviation lies within the defined minimum and maximum thresholds.  
The rotational difference is calculated using the **Angle/Axis** method, where the rotation vector expresses the shortest angular path between the current and target orientations.

**Definition** |br|
``DRFLEx.h`` within class `CDRFLEx`, public section (line 960)

.. code-block:: cpp

   bool check_orientation_condition(FORCE_AXIS eForceAxis,
                                    float fTargetMin[NUM_TASK],
                                    float fTargetMax[NUM_TASK],
                                    COORDINATE_SYSTEM eForceReference = COORDINATE_SYSTEM_TOOL) {
       return _check_orientation_condition_abs(_rbtCtrl, eForceAxis, fTargetMin, fTargetMax, eForceReference);
   };

**Parameter**

.. list-table::
   :widths: 24 22 18 36
   :header-rows: 1

   * - **Parameter Name**
     - **Data Type**
     - **Default Value**
     - **Description**
   * - eForceAxis
     - :ref:`FORCE_AXIS <enum_force_axis>`
     - -
     - Axis of rotation to evaluate (e.g., **Rx**, **Ry**, **Rz**).
   * - fTargetMin
     - float[6]
     - -
     - Minimum acceptable angular deviation (deg or rad).
   * - fTargetMax
     - float[6]
     - -
     - Maximum acceptable angular deviation (deg or rad).
   * - eForceReference
     - :ref:`COORDINATE_SYSTEM <enum_coordinate_system>`
     - ``COORDINATE_SYSTEM_TOOL``
     - Coordinate reference for orientation comparison (TOOL or BASE).

**Return**

.. list-table::
   :widths: 20 80
   :header-rows: 1

   * - **Value**
     - **Description**
   * - 1
     - The condition is **True** (within orientation limits).
   * - 0
     - The condition is **False** (outside orientation limits).

.. figure:: /tutorials/images/mode/check_orientation_condition_abs.png
   :alt: check_orientation_condition_abs
   :width: 80%
   :align: center

   check_orientation_condition_abs

.. raw:: html
      
   <br>     

**Example**

.. code-block:: cpp

   #include "DRFLEx.h"
   #include <cstdio>
   using namespace DRAFramework;

   int main() {
       CDRFLEx drfl;
       // Preconditions: Connected, servo ON, Auto or Manual mode active

       // Define target orientation range around Rx–Ry–Rz axes
       float minOri[6] = {0.f, 0.f, 0.f, -10.f, -10.f, -10.f};
       float maxOri[6] = {0.f, 0.f, 0.f, 10.f, 10.f, 10.f};

       // Check orientation deviation around Rz in TOOL coordinate
       bool cond = drfl.check_orientation_condition(FORCE_AXIS_Z, minOri, maxOri, COORDINATE_SYSTEM_TOOL);

       printf("Orientation within range: %s\n", cond ? "TRUE" : "FALSE");
       return 0;
   }

In this example, the function checks whether the current tool orientation lies within ±10°  
of the target orientation around the Z-axis (Rz) within the TOOL coordinate frame.

**Tips**

- Use this function to ensure **alignment accuracy** before task execution in both Auto and Manual modes.  
- Combine with :ref:`check_position_condition <check_position_condition>` for full 6D validation (position and orientation).  
- The angle units (deg or rad) depend on the system configuration.  
- Particularly useful in **peg-in-hole**, **screw insertion**, and **teaching correction** processes.