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_desired_posx

This function calculates the target posture of the current tool. The posture is based on eTargetRef.

Definition
DRFLEx.h within class CDRFLEx, public section

LPROBOT_POSE get_desired_posx(COORDINATE_SYSTEM eCoodType = COORDINATE_SYSTEM_BASE) {
    return _get_desired_posx(_rbtCtrl, eCoodType);
};

Parameter

Parameter Name	Data Type	Default Value	Description
eCoodType	COORDINATE_SYSTEM	COORDINATE_SYSTEM_BASE	Target coordinate reference frame Refer to the Definition of Enumeration Type

Return

Value	Description
ROBOT_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_POSE result = drfl.get_desired_posx();
for (int i = 0; i < NUM_TASK; i++) {
    printf("%.1f\n", result->_fPosition[i]);
}

This example retrieves the target pose (position and orientation) of the robot’s tool in the specified coordinate system (COORDINATE_SYSTEM_BASE). The returned ROBOT_POSE structure contains the desired Cartesian coordinates and rotation values that the controller is currently commanding the robot to reach.