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check_orientation_condition_rel (Manual Mode)

This function checks the rotational difference between the current tool pose and the target pose along a specific axis within a defined minimum and maximum angular range. It measures the relative orientation (min–max) from a given reference pose and evaluates whether the current orientation satisfies that condition.

The function uses the Angle/Axis method to compute the rotational offset between the current and reference orientations. If the axis is Rx, Ry, or Rz, the comparison is made about the corresponding rotational direction.

Typical usage

  • Set fTargetMin to check if the angular offset is greater than or equal to the threshold.

  • Set fTargetMax to check if the angular offset is less than or equal to the threshold.

  • Set both fTargetMin and fTargetMax to check if the angular deviation is within range.

  • Use this function to monitor angular convergence during insertion, alignment, or rotation tasks in manual teaching.

Note

  • The function measures relative angular deviation from the reference pose in the specified axis (Rx, Ry, or Rz).

  • If eForceReference = COORDINATE_SYSTEM_TOOL, define the reference pose in BASE coordinates.

Example

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

int main() {
    CDRFLEx drfl;
    // Preconditions: Connected, servo ON, Manual (Teach) mode active

    // 1) Define reference pose (Rx, Ry, Rz in degrees)
    float posRef[6] = {400.f, 500.f, 600.f, 0.f, 180.f, 0.f};

    // 2) Check whether rotation around Ry is within ±15° of the reference orientation
    bool cond = drfl.check_orientation_condition(FORCE_AXIS_Y, -15.f, 15.f, posRef, COORDINATE_SYSTEM_TOOL);

    printf("Orientation condition result: %s\n", cond ? "TRUE" : "FALSE");
    return 0;
}

In this example, the function checks whether the current rotation about the Ry axis is within ±15° of the reference pose orientation in the TOOL coordinate frame.

Tips

  • Use this function to ensure angular alignment before executing tasks such as assembly or insertion.

  • Combine with check_position_condition for full 6D validation (position and orientation).

  • The angle units (degrees or radians) depend on system settings, so confirm the unit configuration before use.

  • This function is useful in tasks requiring precise rotational alignment, such as peg-in-hole, screw insertion, and teaching corrections.