get_desired_velx

This function retrieves the desired task-space velocity of the robot from the controller. Unlike get_current_velx, which reports the measured TCP velocity, this function returns the commanded (target) TCP velocity computed internally by the motion planner.

Definition
DRFLEx.h within class CDRFLEx, public section (line 729)

LPROBOT_VEL get_desired_velx() {
    return _get_desired_velx(_rbtCtrl);
};

Parameter
None

Return

Value	Description
LPROBOT_VEL	Pointer to a structure containing the desired TCP velocity values (linear and angular components in task space).

Example

#include "DRFLEx.h"
using namespace DRAFramework;

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

    LPROBOT_VEL lpVel = drfl.get_desired_velx();
    if (lpVel) {
        printf("Desired TCP Velocity (Targeted by Controller):\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]);
    } else {
        fprintf(stderr, "Failed to retrieve desired velocity.\n");
    }

    return 0;
}

This example prints the controller’s internally computed target TCP velocity, which can be compared with the measured velocity (get_current_velx) to evaluate servo tracking performance or motion synchronization accuracy.