get_current_solution_space

This is a function for checking information on the pose of the robot in the robot controller.

Definition
DRFLEx.h within class CDRFLEx, public section (line 713)

unsigned char get_current_solution_space() {
    return _get_current_solution_space(_rbtCtrl);
};

Parameter
None

Return

Value	Description
unsigned char (0~7)	Index value indicating the current solution space of the robot. This represents which joint configuration (among multiple valid inverse kinematics solutions) the robot is currently maintaining for its end-effector position.

Example

unsigned char iSolutionSpace = drfl.get_current_solution_space();
// Moves (MoveJ) if the robot maintains the current pose
float point[6] = { 10, 10, 10, 10, 10, 10 };
drfl.movejx(point, iSolutionSpace, 30, 30);

In this example, the function retrieves the robot’s current solution space ID and uses it as an argument for movejx(). This ensures that the robot maintains the same inverse-kinematic posture (elbow up/down, wrist flip, etc.) during subsequent motions. Solution spaces typically range from 0 to 7, corresponding to unique robot joint configurations.