ROBOT_POSE

This is a structure for expressing the current location information of the robot, mainly used in the get_current_pose() command of the robot controller. It contains six elements that describe the robot’s task-space pose.

BYTE#	Field Name	Data Type	Value	Remarks
0	_fPosition	float[NUM_JOINT]	Six float values	Location information: six task-space coordinates (X, Y, Z, Rx, Ry, Rz)

Total size: 24 bytes

Defined in: DRFS.h

typedef struct _ROBOT_POSE
{
    float _fPosition[NUM_JOINT];  /* current pose: six location components (X, Y, Z, Rx, Ry, Rz) */
} ROBOT_POSE, *LPROBOT_POSE;