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addto

This function returns a new joint pose by adding an offset vector (fOffset) to the given source joint position (fSourcePos). It is commonly used for small incremental movements or calibration offset computation in joint space.

Definition
DRFLEx.h within class CDRFLEx, public section (line 671)

LPROBOT_POSE addto(
    float fSourcePos[NUM_JOINT],
    float fOffset[NUM_JOINT]
) {
    return _addto(_rbtCtrl, fSourcePos, fOffset);
};

Parameter

Parameter Name	Data Type	Default Value	Description
fSourcePos	float[6]		Base joint position of the robot (J1–J6).
fOffset	float[6]		Offset values (ΔJ1–ΔJ6) to be added to the source position. Units are consistent with the joint configuration (degrees or radians).

Return

Value	Description
LPROBOT_POSE	Structure representing the summed joint pose (source + offset).

Example

float q_base[6] = { 0.f, 90.f, 0.f, 90.f, 0.f, 0.f };
float dq[6]     = { 5.f, -5.f, 0.f, 0.f, 0.f, 0.f };

LPROBOT_POSE q_new = drfl.addto(q_base, dq);

float q_target[6];
for (int i = 0; i < 6; ++i)
    q_target[i] = q_new->_fPosition[i];

drfl.movej(q_target, 50, 20);

This example adds a small offset dq to the base joint position q_base, resulting in a new pose q_new. The robot then moves to the updated joint configuration using movej(). This function is useful for incremental calibration, joint tuning, or small adjustment control.