CDRFLEx.get_current_pose
Features
This is a function for checking information on the current location by axis of the robot according to the coordinates (joint space or task space) in the robot controller.
Parameter
Parameter Name | Data Type | Default Value | Description |
|---|---|---|---|
eSpaceType | enum.ROBOT_SPACE | ROBOT_SPACE_JOINT | Refer to the Definition of Constant and Enumeration Type |
Return
Value | Description |
|---|---|
struct.ROBOT_POSE | Refer to definition of structure |
Example
PY
LPROBOT_POSE lpPose = drfl.get_current_pose(ROBOT_SPACE_JOINT);
// Displays the current location of the robot in joint space
for (int k = 0; k < NUM_JOINT; k++ )
cout << lpPose->_fPosition[k] << endl;