check_orientation_condition_abs

This function evaluates the absolute orientation difference between the current tool pose and the target pose along a specified axis. It determines whether the angular deviation lies within the defined minimum and maximum thresholds. The rotational difference is calculated using the Angle/Axis method, where the rotation vector expresses the shortest angular path between the current and target orientations.

Definition
DRFLEx.h within class CDRFLEx, public section (line 960)

bool check_orientation_condition(FORCE_AXIS eForceAxis,
                                 float fTargetMin[NUM_TASK],
                                 float fTargetMax[NUM_TASK],
                                 COORDINATE_SYSTEM eForceReference = COORDINATE_SYSTEM_TOOL) {
    return _check_orientation_condition_abs(_rbtCtrl, eForceAxis, fTargetMin, fTargetMax, eForceReference);
};

Parameter

Parameter Name	Data Type	Default Value	Description
eForceAxis	FORCE_AXIS		Axis of rotation to evaluate (e.g., Rx, Ry, Rz).
fTargetMin	float[6]		Minimum acceptable angular deviation (deg or rad).
fTargetMax	float[6]		Maximum acceptable angular deviation (deg or rad).
eForceReference	COORDINATE_SYSTEM	COORDINATE_SYSTEM_TOOL	Coordinate reference for orientation comparison (TOOL or BASE).

Return

Value	Description
1	The condition is True (within orientation limits).
0	The condition is False (outside orientation limits).

check_orientation_condition_abs

Example

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

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

    // Define target orientation range around Rx–Ry–Rz axes
    float minOri[6] = {0.f, 0.f, 0.f, -10.f, -10.f, -10.f};
    float maxOri[6] = {0.f, 0.f, 0.f, 10.f, 10.f, 10.f};

    // Check orientation deviation around Rz in TOOL coordinate
    bool cond = drfl.check_orientation_condition(FORCE_AXIS_Z, minOri, maxOri, COORDINATE_SYSTEM_TOOL);

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

In this example, the function checks whether the current tool orientation lies within ±10° of the target orientation around the Z-axis (Rz) within the TOOL coordinate frame.

Tips

• Use this function to ensure alignment accuracy before task execution in both Auto and Manual modes.

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

• The angle units (deg or rad) depend on the system configuration.

• Particularly useful in peg-in-hole, screw insertion, and teaching correction processes.