get_desired_posj

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

Definition
DRFLEx.h within class CDRFLEx, public section (line 721)

LPROBOT_POSE get_desired_posj() {
    return _get_desired_posj(_rbtCtrl);
};

Parameter
None

Return

Value	Description
ROBOT_POSE	Refer to the Definition of Structure

Example

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

int main() {
    CDRFLEx drfl;

    // Retrieve the desired joint positions (target values commanded by controller)
    LPROBOT_POSE lpDesired = drfl.get_desired_posj();
    LPROBOT_POSE lpCurrent = drfl.get_current_posj();

    if (lpDesired && lpCurrent) {
        std::cout << "Comparing Desired vs Current Joint Angles:" << std::endl;
        for (int i = 0; i < NUMBER_OF_JOINT; ++i) {
            float error = std::fabs(lpDesired->_fPos[i] - lpCurrent->_fPos[i]);
            std::cout << "  Joint " << (i + 1)
                      << " | Desired: " << lpDesired->_fPos[i]
                      << " | Current: " << lpCurrent->_fPos[i]
                      << " | Error: " << error << std::endl;
        }
    } else {
        std::cerr << "Failed to retrieve joint position data." << std::endl;
    }

    return 0;
}

This example retrieves both the desired joint angles (commanded by the motion controller) and the current joint angles (actual feedback from encoders), then compares them. The difference between these values represents the motion tracking error during movement. This function is particularly useful for real-time monitoring, trajectory debugging, or fine-tuning controller response accuracy in dynamic applications.