get_current_posj

This function returns the current angle of each robot joint.

Definition
DRFLEx.h within class CDRFLEx, public section

LPROBOT_POSE get_current_posj() {
    return _get_current_posj(_rbtCtrl);
};

Parameter
None

Return

Value	Description
ROBOT_POSE	Refer to the Definition of Structure

Note

Returns the most recent monitoring value. All fields are 0 until monitoring data has been received: after open_connection, after setup_monitoring_version, and after a reconnect. The returned pointer is never NULL. Before using the value, wait for the first monitoring callback after connecting.

Example

// Retrieve the current joint positions [deg]
LPROBOT_POSE lpPose = drfl.get_current_posj();

printf("Current Joint Angles [deg]:\n");
for (int i = 0; i < NUMBER_OF_JOINT; ++i) {
    printf("  Joint %d: %.1f\n", (i + 1), lpPose->_fPosition[i]);
}

This example retrieves the current joint angles of all robot axes from the controller and prints them to the console. Each element in the returned ROBOT_POSE structure represents the current position of a joint in degrees [deg]. This function is commonly used in motion monitoring, calibration routines, or when synchronizing the robot’s state with external systems.