CDRFLEx.get_current_posx
Features
This is a function for calculating the posture and solution space of the current task coordinate system. 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 |
|---|---|
struct.ROBOT_TASK_POSE | Refer to definition of structure |
Example
CPP
ROBOT_TASK_POSE* result = Drfl.get_current_posx();
float* pos = new float[NUM_TASK];
int sol = result->_iTargetSol;
memcpy(pos, result->_fTargetPos, sizeof(float) * NUM_TASK);