.. _get_desired_posj:

get_desired_posj
------------------------------------------
This function returns the desired angle of each robot joint.

**Definition** |br|
``DRFLEx.h`` within class `CDRFLEx`, public section

.. code-block:: cpp

    LPROBOT_POSE get_desired_posj() { 
        return _get_desired_posj(_rbtCtrl); 
    };

**Parameter** |br|
None

**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 the desired joint positions (target values commanded by controller)
    LPROBOT_POSE lpDesired = drfl.get_desired_posj();
    LPROBOT_POSE lpCurrent = drfl.get_current_posj();

    if (lpDesired && lpCurrent) {
        printf("Comparing Desired vs Current Joint Angles:\n");
        for (int i = 0; i < NUMBER_OF_JOINT; ++i) {
            float error = std::fabs(lpDesired->_fPosition[i] - lpCurrent->_fPosition[i]);
            printf("  Joint %d | Desired: %.1f | Current: %.1f | Error: %.1f\n", (i + 1), lpDesired->_fPosition[i], lpCurrent->_fPosition[i], error);
        }
    } else {
        printf("Failed to retrieve joint position data.\n");
    }

This example retrieves both the **desired joint angles** (commanded by the motion controller)  
and the **current joint angles** (actual feedback from encoders), then compares them.  
The difference between these values represents the **motion tracking error** during movement.  
This function is particularly useful for **real-time monitoring, trajectory debugging,  
or fine-tuning controller response accuracy** in dynamic applications.