get_current_posx

This is a function for calculating the posture and solution space of the current task coordinate system. At this time, the posture is based on eTargetRef.

Definition
DRFLEx.h within class CDRFLEx, public section (line 674)

LPROBOT_TASK_POSE get_current_posx(COORDINATE_SYSTEM eCoodType = COORDINATE_SYSTEM_BASE) {
    return _get_current_posx(_rbtCtrl, eCoodType);
};

Parameter

Parameter Name	Data Type	Default Value	Description
eCoodType	COORDINATE_SYSTEM	COORDINATE_SYSTEM_BASE	Target coordinate reference frame.

Return

Value	Description
ROBOT_TASK_POSE	Refer to the Definition of Structure

Example

LPROBOT_TASK_POSE result = drfl.get_current_posx();
float* pos = new float[NUM_TASK];
int sol = result->_iTargetSol;
memcpy(pos, result->_fTargetPos, sizeof(float) * NUM_TASK);

This example retrieves the robot’s current task-space position and orientation with respect to the base coordinate system (COORDINATE_SYSTEM_BASE). The returned ROBOT_TASK_POSE structure includes both position vectors and the current solution index, allowing users to analyze or store the robot’s spatial state at runtime.