get_orientation_error

This function calculates the orientation error value between two arbitrary task-space poses (fPosition1 and fPosition2) around the specified task axis (eTaskAxis). It is useful for verifying angular deviation or alignment errors between tool orientations.

Definition
DRFLEx.h within class CDRFLEx, public section (line 676)

float get_orientation_error(
    float fPosition1[NUM_TASK],
    float fPosition2[NUM_TASK],
    TASK_AXIS eTaskAxis
) {
    return _get_orientation_error(_rbtCtrl, fPosition1, fPosition2, eTaskAxis);
};

Parameter

Parameter Name	Data Type	Default Value	Description
fPosition1	float[6]		First task-space position (x, y, z, Rx, Ry, Rz) used as reference orientation.
fPosition2	float[6]		Second task-space position to compare against the reference.
eTaskAxis	TASK_AXIS		Axis about which the orientation error is calculated.

Return

Value	Description
float	Orientation error value (in degrees or radians depending on system configuration).

Example

float x1[6] = { 0.f, 0.f, 0.f, 0.f, 0.f, 0.f };
float x2[6] = { 10.f, 20.f, 30.f, 40.f, 50.f, 60.f };

float diff = drfl.get_orientation_error(x1, x2, TASK_AXIS_X);
std::cout << "Orientation error around X-axis: " << diff << std::endl;

This example computes the rotation error between two tool poses x1 and x2 around the X-axis, returning the angular difference. Such calculation is often used in calibration, pose correction, or alignment inspection.