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

get_current_tool_flange_posx

This is a function for checking information on the tool flange pose of the robot in the robot controller. At this time, the posture is based on eTargetRef.

Definition
DRFLEx.h within class CDRFLEx, public section (line 723)

LPROBOT_POSE get_current_tool_flange_posx() {
    return _get_current_tool_flange_posx(_rbtCtrl);
};

Parameter

Parameter Name	Data Type	Default Value	Description
eTargetRef	COORDINATE_SYSTEM	COORDINATE_SYSTEM_BASE	Target coordinate reference frame.

Return

Value	Description
ROBOT_POSE	Refer to the Definition of Structure

Example

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

int main() {
    CDRFLEx drfl;

    // Retrieve current flange pose relative to the base coordinate system
    LPROBOT_POSE lpCurrentFlange = drfl.get_current_tool_flange_posx(COORDINATE_SYSTEM_BASE);

    // Retrieve desired pose relative to the tool coordinate system
    LPROBOT_POSE lpDesiredFlange = drfl.get_desired_posx(COORDINATE_SYSTEM_TOOL);

    if (lpCurrentFlange && lpDesiredFlange) {
        std::cout << "Current Flange Pose (Base Frame):" << std::endl;
        std::cout << "  X: " << lpCurrentFlange->_fX << ", Y: " << lpCurrentFlange->_fY
                  << ", Z: " << lpCurrentFlange->_fZ << std::endl;
        std::cout << "  Rx: " << lpCurrentFlange->_fRx << ", Ry: " << lpCurrentFlange->_fRy
                  << ", Rz: " << lpCurrentFlange->_fRz << std::endl;

        std::cout << "\nDesired Flange Pose (Tool Frame):" << std::endl;
        std::cout << "  X: " << lpDesiredFlange->_fX << ", Y: " << lpDesiredFlange->_fY
                  << ", Z: " << lpDesiredFlange->_fZ << std::endl;
        std::cout << "  Rx: " << lpDesiredFlange->_fRx << ", Ry: " << lpDesiredFlange->_fRy
                  << ", Rz: " << lpDesiredFlange->_fRz << std::endl;

        // Simple positional deviation check (Euclidean distance)
        float deltaX = lpDesiredFlange->_fX - lpCurrentFlange->_fX;
        float deltaY = lpDesiredFlange->_fY - lpCurrentFlange->_fY;
        float deltaZ = lpDesiredFlange->_fZ - lpCurrentFlange->_fZ;
        float distanceError = std::sqrt(deltaX * deltaX + deltaY * deltaY + deltaZ * deltaZ);

        std::cout << "\nTranslation Error (mm): " << distanceError << std::endl;
    } else {
        std::cerr << "Failed to retrieve flange pose data." << std::endl;
    }

    return 0;
}

In this example, the current flange pose is obtained in the base coordinate frame, while the desired TCP pose is retrieved relative to the tool coordinate frame. Both poses include Cartesian position (X, Y, Z) and orientation (Rx, Ry, Rz). The example calculates the translational deviation between the two poses, which can be used to assess trajectory accuracy, tool calibration, or alignment performance.