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ROBOT_TASK_POSE

This structure defines the target task-space pose of the robot, including six position/orientation values and a corresponding solution space index used for inverse kinematics.

BYTE#	Field Name	Data Type	Value	Remarks
0	_fTargetPos	float[NUM_TASK]	Six float values	Target task-space pose (X, Y, Z, Rx, Ry, Rz)
24	_iTargetSol	unsigned char	0x00~0x07	Inverse kinematics solution space index

Total size: 25 bytes

Defined in: DRFS.h

typedef struct _ROBOT_TASK_POSE
{
    float          _fTargetPos[NUM_TASK];  /* target pose (X, Y, Z, Rx, Ry, Rz) */
    unsigned char  _iTargetSol;            /* solution space index: 0 ~ 7 */
} ROBOT_TASK_POSE, *LPROBOT_TASK_POSE;