get_solution_space

This function calculates the solution space index (0–7) for a given joint position. Each solution space represents one of the eight possible robot configurations (elbow-up/down, wrist-flip, shoulder combinations, etc.). The result is primarily used when performing inverse kinematics via ikin.

Definition
DRFLEx.h within class CDRFLEx, public section (line 673)

unsigned char get_solution_space(
    float fTargetPos[NUM_JOINT]
) {
    return _get_solution_space(_rbtCtrl, fTargetPos);
};

Parameter

Parameter Name	Data Type	Default Value	Description
fTargetPos	float[6]		Target joint positions (J1–J6). The function evaluates these angles to determine the corresponding IK configuration space.

Return

Value	Description
unsigned char (0–7)	Identifier of the solution space that the current pose belongs to. Used as input to ikin or ikin_extension.

Example

float q1[6] = { 0.f, 0.f, 0.f, 0.f, 0.f, 0.f };
unsigned char sol = drfl.get_solution_space(q1);

std::cout << "Current solution space: " << static_cast<int>(sol) << std::endl;

This example computes the solution space index for a given joint configuration q1. The returned value (sol) indicates one of the eight possible robot postures and can be used when performing inverse-kinematic operations such as ikin() or ikin_ex().