.. _get_current_posj:

get_current_posj
------------------------------------------
This function returns the current angle of each robot joint.

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

.. code-block:: cpp

    LPROBOT_POSE get_current_posj() { 
        return _get_current_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

.. 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**

.. code-block:: cpp

    // 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.