CDRFLEx.get_desired_posx
Features
This is a function for calculating the target posture of the current tool. At this time, the posture is based on ‘eTargetRef’.
Parameter
Parameter Name | Data Type | Default Value | Description |
|---|---|---|---|
eTargetRef | enum.COORDINATE_SYSTEM | COORDINATE_SYSTEM_BASE | Refer to the Definition of Constant and Enumeration Type |
Return
Value | Description |
|---|---|
enum.ROBOT_POSE | Refer to the Definition of Constant and Enumeration Type |
Example
PY
ROBOT_POSE* result = Drfl.get_desired_posx();
for(int i = 0; i < NUM_TASK; i++)
{
cout << result->_fPosition[i] << endl;
}