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For information on the latest version, please have a look at GL013301.

get_control_space

This is a function for checking information on the control space of the robot in the robot controller.

Definition
DRFLEx.h within class CDRFLEx, public section (line 717)

ROBOT_SPACE get_control_space() {
    return _get_control_space(_rbtCtrl);
};

Parameter
None

Return

Value	Description
ROBOT_SPACE	Current control space of the robot. (e.g., ROBOT_SPACE_JOINT, ROBOT_SPACE_TASK).

Example

ROBOT_SPACE eSpace = drfl.get_control_space();

if (eSpace == ROBOT_SPACE_JOINT)
    cout << "Current control space: Joint Space" << endl;
else if (eSpace == ROBOT_SPACE_TASK)
    cout << "Current control space: Task Space" << endl;

In this example, the function checks which control coordinate space the robot is operating in. ROBOT_SPACE_JOINT indicates control in joint coordinates, while ROBOT_SPACE_TASK indicates control in Cartesian task coordinates. This function is often used to verify or synchronize motion commands with the controller’s current state.