get_current_velx

This function retrieves the current task-space velocity of the robot from the controller. It provides the instantaneous linear and angular velocity of the TCP (Tool Center Point) expressed in the task coordinate frame.

Definition
DRFLEx.h within class CDRFLEx, public section (line 725)

LPROBOT_VEL get_current_velx() {
    return _get_current_velx(_rbtCtrl);
};

Parameter
None

Return

Value	Description
LPROBOT_VEL	Pointer to a structure containing the current TCP velocity values. Includes both linear (vx, vy, vz) and angular (wx, wy, wz) components.

Example

#include "DRFLEx.h"
using namespace DRAFramework;

int main() {
    CDRFLEx drfl;
    // Assume robot connection and initialization are complete

    LPROBOT_VEL lpVel = drfl.get_current_velx();
    if (lpVel) {
        printf("Current TCP Velocity:\n");
        printf("Linear  [m/s]:  vx=%.4f  vy=%.4f  vz=%.4f\n",
               lpVel->_fLinearVel[0],
               lpVel->_fLinearVel[1],
               lpVel->_fLinearVel[2]);
        printf("Angular [rad/s]: wx=%.4f  wy=%.4f  wz=%.4f\n",
               lpVel->_fAngularVel[0],
               lpVel->_fAngularVel[1],
               lpVel->_fAngularVel[2]);
    }
    return 0;
}

This example queries the controller for the robot’s TCP linear and angular velocities, prints them to the console, and can be used for real-time motion monitoring or velocity feedback control.