get_robot_link_info

This function queries the controller for the robot’s link (DH) parameters and fills the provided ROBOT_LINK_INFO structure. Typical fields contain per-joint Denavit–Hartenberg parameters (e.g., a, d, α, θ), link lengths, and auxiliary meta data used for kinematic computations.

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

bool get_robot_link_info(ROBOT_LINK_INFO& out, int timeout_ms = 300) {
    return _get_robot_link_info(_rbtCtrl, &out, timeout_ms);
};

Parameter

Parameter Name	Data Type	Default Value	Description
out	ROBOT_LINK_INFO		Output structure that will be populated with the robot’s link/DH parameters.
timeout_ms	int	300	Timeout for the query in milliseconds.

Return

Value	Type	Description
0	int	Error — failed to retrieve link information (timeout or communication error).
1	int	Success — out structure was filled with the current link parameters.

Example

#include "DRFLEx.h"
using namespace DRAFramework;

int main() {
    CDRFLEx drfl;

    // Connect, select robot system, etc... (omitted)

    ROBOT_LINK_INFO link{};
    if (drfl.get_robot_link_info(link, 500)) {
        // Example: iterate joints and print DH-like parameters if provided by your firmware
        for (int j = 0; j < NUMBER_OF_JOINT; ++j) {
            // NOTE: actual field names depend on ROBOT_LINK_INFO definition in your SDK
            // e.g., link._tLink[j]._fA, link._tLink[j]._fD, link._tLink[j]._fAlpha, link._tLink[j]._fTheta
            printf("[J%d] a=%.6f, d=%.6f, alpha=%.6f, theta=%.6f\n",
                   j+1,
                   link._tLink[j]._fA,
                   link._tLink[j]._fD,
                   link._tLink[j]._fAlpha,
                   link._tLink[j]._fTheta);
        }
    } else {
        fprintf(stderr, "get_robot_link_info() failed (timeout or comm error)\n");
    }
    return 0;
}

This example requests the controller’s DH/link parameters and prints them joint-by-joint. Field names shown (_fA, _fD, _fAlpha, _fTheta) reflect common DH notation.