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

get_current_pose

This is a function for checking information on the current location by axis of the robot according to the coordinates (joint space or task space) in the robot controller.

Definition
DRFLEx.h within class CDRFLEx, public section (line 711)

LPROBOT_POSE get_current_pose(ROBOT_SPACE eSpaceType = ROBOT_SPACE_JOINT) {
    return _get_current_pose(_rbtCtrl, eSpaceType);
};

Parameter

Parameter Name	Data Type	Default Value	Description
eSpaceType	ROBOT_SPACE	ROBOT_SPACE_JOINT	Space type of the robot position. (e.g., joint space, task space).

Return

Value	Description
ROBOT_POSE	Refer to the Definition of Structure

Example

LPROBOT_POSE lpPose = drfl.get_current_pose(ROBOT_SPACE_JOINT);
// Displays the current location of the robot in joint space
for (int k = 0; k < NUM_JOINT; k++) {
    cout << lpPose->_fPosition[k] << endl;
}

This example retrieves the current pose of the robot based on the selected space type. When ROBOT_SPACE_JOINT is used, the returned structure contains joint angles for each axis. If ROBOT_SPACE_TASK is specified, it contains the Cartesian position and orientation (X, Y, Z, Rx, Ry, Rz) of the robot end-effector.