You're reading the documentation for an older, but still supported version (1.33.4).
For information on the latest version, please have a look at 1.33.5.

get_current_posx

This function calculates the posture and solution space of the current task coordinate system. The posture is based on eTargetRef.

Definition
DRFLEx.h within class CDRFLEx, public section

LPROBOT_TASK_POSE get_current_posx(COORDINATE_SYSTEM eCoodType = COORDINATE_SYSTEM_BASE) {
    return _get_current_posx(_rbtCtrl, eCoodType);
};

Parameter

Parameter Name	Data Type	Default Value	Description
eCoodType	COORDINATE_SYSTEM	COORDINATE_SYSTEM_BASE	Target coordinate reference frame.

Return

Value	Description
ROBOT_TASK_POSE	Refer to the Definition of Structure

Note

This call waits for the controller to answer.

The returned pointer refers to storage in the CDRFLEx object that other DRFL calls and every reconnect reuse; copy the structure before making another DRFL call. The 3-argument ikin returns its result in storage shared by all CDRFLEx objects in the process instead; see ikin. Except for get_user_home, the pointer is never NULL; do not use a NULL check to detect failure.

Example

LPROBOT_TASK_POSE result = drfl.get_current_posx();
float* pos = new float[NUM_TASK];
int sol = result->_iTargetSol;
memcpy(pos, result->_fTargetPos, sizeof(float) * NUM_TASK);

This example retrieves the robot’s current task-space position and orientation with respect to the base coordinate system (COORDINATE_SYSTEM_BASE). The returned ROBOT_TASK_POSE structure includes both position vectors and the current solution index, allowing users to analyze or store the robot’s spatial state at runtime.