.. _get_current_tool_flange_posx:

get_current_tool_flange_posx
------------------------------------------
This is a function for checking information on the tool flange pose of the robot in the robot controller.  
At this time, the posture is based on `eTargetRef`.

**Definition** |br|
``DRFLEx.h`` within class `CDRFLEx`, public section (line 723)

.. code-block:: cpp

    LPROBOT_POSE get_current_tool_flange_posx() { 
        return _get_current_tool_flange_posx(_rbtCtrl); 
    };

**Parameter**

.. list-table::
   :widths: 20 20 20 40
   :header-rows: 1

   * - **Parameter Name**
     - **Data Type**
     - **Default Value**
     - **Description**
   * - eTargetRef
     - :ref:`COORDINATE_SYSTEM <enum_coordinate_system>`
     - COORDINATE_SYSTEM_BASE
     - Target coordinate reference frame.

**Return**

.. list-table::
   :widths: 25 75
   :header-rows: 1

   * - **Value**
     - **Description**
   * - :ref:`ROBOT_POSE <struct_robot_pose>`
     - Refer to the Definition of Structure

**Example**

.. code-block:: cpp

    // Retrieve current flange pose relative to the base coordinate system
    LPROBOT_POSE lpCurrentFlange = drfl.get_current_tool_flange_posx(COORDINATE_SYSTEM_BASE);

    // Retrieve desired pose relative to the tool coordinate system
    LPROBOT_POSE lpDesiredFlange = drfl.get_desired_posx(COORDINATE_SYSTEM_TOOL);

    if (lpCurrentFlange && lpDesiredFlange) {
        printf("Current Flange Pose (Base Frame):\n");
        printf("  X: %.1f, Y: %.1f, Z: %.1f\n", lpCurrentFlange->_fX, lpCurrentFlange->_fY, lpCurrentFlange->_fZ);
        printf("  Rx: %.1f, Ry: %.1f, Rz: %.1f\n", lpCurrentFlange->_fRx, lpCurrentFlange->_fRy, lpCurrentFlange->_fRz);

        printf("\nDesired Flange Pose (Tool Frame):\n");
        printf("  X: %.1f, Y: %.1f, Z: %.1f\n", lpDesiredFlange->_fX, lpDesiredFlange->_fY, lpDesiredFlange->_fZ);
        printf("  Rx: %.1f, Ry: %.1f, Rz: %.1f\n", lpDesiredFlange->_fRx, lpDesiredFlange->_fRy, lpDesiredFlange->_fRz);

        // Simple positional deviation check (Euclidean distance)
        float deltaX = lpDesiredFlange->_fX - lpCurrentFlange->_fX;
        float deltaY = lpDesiredFlange->_fY - lpCurrentFlange->_fY;
        float deltaZ = lpDesiredFlange->_fZ - lpCurrentFlange->_fZ;
        float distanceError = std::sqrt(deltaX * deltaX + deltaY * deltaY + deltaZ * deltaZ);

        printf("\nTranslation Error (mm): %.2f\n", distanceError);
    } else {
        printf("Failed to retrieve flange pose data.\n");
    }

In this example, the **current flange pose** is obtained in the **base coordinate frame**,  
while the **desired TCP pose** is retrieved relative to the **tool coordinate frame**.  
Both poses include **Cartesian position (X, Y, Z)** and **orientation (Rx, Ry, Rz)**.  
The example calculates the **translational deviation** between the two poses,  
which can be used to assess **trajectory accuracy**, **tool calibration**, or **alignment performance**.