CDRFLEx.fkin
Features
This function receives the input data of joint angles(fSourcePos) or equivalent forms (float[6]) in the joint space and returns the TCP (objects in the task space) based on the ref coordinate(eTargetRef).
Parameter
Parameter Name | Data Type | Default Value | Description |
fSourcePos | float[6] | - | Target joint location for six axes |
eTargetRef | enum.COORDINATE_SYSTEM | COORDINATE_SYSTEM_BASE | Refer to the Definition of Constant and Enumeration Type |
Return
Value | Description |
ROBOT_POSE | Refer to the Definition of Constant and Enumeration Type |
Example
CPP
float q1[6] = {0,0,90,0,90,0};
Drfl.movej(q1, 60, 30);
float q2[6] = {30, 0, 90, 0, 90, 0};
LPROBOT_POSE res = Drfl.fkin(q2, COORDINATE_SYSTEM_WORLD);
float vel[2] = {100, 100};
float acc[2] = {200, 200};
float x2[6] = {0,};
for(int i=0; i<6; i++){
x2[i] = res->_fPosition[i];
}
Drfl.MoveL(x2, vel, acc);