CDRFLEx.ikin

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 x1[6] = {370.9, 719.7, 651.5, 90, -180, 0};
LPROBOT_POSE res = Drfl.ikin(x1, 2);
float q1[6] = {0,};
for(int i=0; i<6; i++){
    q1[i] = res->_fPosition[i];
}
Drfl.movej(q1, 60, 30);