.. _get_current_rotm:

get_current_rotm
------------------------------------------
This function returns the rotation matrix of the current tool orientation in the BASE coordinate system (eTargetRef = COORDINATE_SYSTEM_BASE, the default) or, with monitoring version 1, in the WORLD coordinate system.

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

.. code-block:: cpp

    float (*get_current_rotm(COORDINATE_SYSTEM eTargetRef = COORDINATE_SYSTEM_BASE))[3] { 
        return _get_current_rotm(_rbtCtrl, eTargetRef); 
    };

**Parameter**

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   :header-rows: 1

   * - **Parameter Name**
     - **Data Type**
     - **Default Value**
     - **Description**
   * - eTargetRef
     - :ref:`COORDINATE_SYSTEM <enum_coordinate_system>`
     - COORDINATE_SYSTEM_BASE
     - Reference coordinate system for which the rotation matrix is calculated. Currently, only COORDINATE_SYSTEM_BASE and COORDINATE_SYSTEM_WORLD are supported, and COORDINATE_SYSTEM_WORLD requires setup_monitoring_version(1). To get the TCP orientation in another coordinate system, use get_current_posx(eTargetRef).

**Return**

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   :header-rows: 1

   * - **Value**
     - **Description**
   * - float[3][3]
     - 3×3 Rotation matrix representing the tool’s current orientation relative to the coordinate system selected by eTargetRef.

.. Caution::

   The function does not refuse other eTargetRef values. With monitoring version 0 it ignores eTargetRef and returns the BASE matrix. With monitoring version 1 it returns the WORLD matrix for every value other than COORDINATE_SYSTEM_BASE.

**Example**

.. code-block:: cpp

   float (*result)[3] = drfl.get_current_rotm();
   for (int i = 0; i < 3; i++) {
       for (int j = 0; j < 3; j++) {
           printf("%f ", result[i][j]);
       }
       printf("\n");
   }

In this example, the **rotation matrix** of the tool is printed.  
Each element `result[i][j]` represents the orientation component of the tool flange  
with respect to the BASE coordinate system.  
This is especially useful for applications requiring **orientation control**,  
such as force alignment, compliance, or visual servoing.