.. _get_current_tool_flange_posx:

get_current_tool_flange_posx
------------------------------------------
This function returns the tool flange pose of the robot. The pose is always expressed in the BASE coordinate system.

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

.. code-block:: cpp

    LPROBOT_POSE get_current_tool_flange_posx() { 
        return _get_current_tool_flange_posx(_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 current flange pose relative to the base coordinate system
    LPROBOT_POSE lpCurrentFlange = drfl.get_current_tool_flange_posx();

    if (lpCurrentFlange) {
        printf("Current Flange Pose (Base Frame):\n");
        printf("  X: %.1f, Y: %.1f, Z: %.1f\n", lpCurrentFlange->_fPosition[0], lpCurrentFlange->_fPosition[1], lpCurrentFlange->_fPosition[2]);
        printf("  Rx: %.1f, Ry: %.1f, Rz: %.1f\n", lpCurrentFlange->_fPosition[3], lpCurrentFlange->_fPosition[4], lpCurrentFlange->_fPosition[5]);
    } else {
        printf("Failed to retrieve flange pose data.\n");
    }

In this example, the **current flange pose** is obtained in the **base coordinate frame**.  
The pose includes **Cartesian position (X, Y, Z)** and **orientation (Rx, Ry, Rz)** of the tool flange, independent of the TCP set on the robot.