get_current_posj

This is a function for checking information on the current joint angle by axis of the robot in the robot controller.

Definition
DRFLEx.h within class CDRFLEx, public section (line 715)

LPROBOT_POSE get_current_posj() {
    return _get_current_posj(_rbtCtrl);
};

Parameter
None

Return

Value	Description
ROBOT_POSE	Refer to the Definition of Structure

Example

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

int main() {
    CDRFLEx drfl;

    // Retrieve the current joint positions (in radians)
    LPROBOT_POSE lpPose = drfl.get_current_posj();

    if (lpPose != nullptr) {
        std::cout << "Current Joint Angles (rad):" << std::endl;
        for (int i = 0; i < NUMBER_OF_JOINT; ++i) {
            std::cout << "  Joint " << (i + 1) << ": " << lpPose->_fPos[i] << std::endl;
        }
    } else {
        std::cerr << "Failed to retrieve joint positions." << std::endl;
    }

    return 0;
}

This example retrieves the current joint angles of all robot axes from the controller and prints them to the console. Each element in the returned ROBOT_POSE structure represents the current position of a joint in radians (or degrees, depending on the system configuration). This function is commonly used in motion monitoring, calibration routines, or when synchronizing the robot’s state with external systems.