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

get_desired_posx

This is a function for calculating the target posture of the current tool. At this time, the posture is based on eTargetRef.

Definition
DRFLEx.h within class CDRFLEx, public section (line 675)

LPROBOT_POSE get_desired_posx(COORDINATE_SYSTEM eCoodType = COORDINATE_SYSTEM_BASE) {
    return _get_desired_posx(_rbtCtrl, eCoodType);
};

Parameter

Parameter Name	Data Type	Default Value	Description
eCoodType	COORDINATE_SYSTEM	COORDINATE_SYSTEM_BASE	Target coordinate reference frame Refer to the Definition of Enumeration Type

Return

Value	Description
ROBOT_POSE	Refer to the Definition of Structure

Example

LPROBOT_POSE result = drfl.get_desired_posx();
for (int i = 0; i < NUM_TASK; i++) {
    cout << result->_fPosition[i] << endl;
}

This example retrieves the target pose (position and orientation) of the robot’s tool in the specified coordinate system (COORDINATE_SYSTEM_BASE). The returned ROBOT_POSE structure contains the desired Cartesian coordinates and rotation values that the controller is currently commanding the robot to reach.