CDRFLEx.ikin(Extension)
Features
This function returns the joint position corresponding iSolutionSpace, which is equivalent to the robot pose in the operating space, among 8 joint shapes.
Parameter
Parameter Name | Data Type | Default Value | Description |
fSourcePos | float[6] | - | Target task location for six axes |
iSolutionSpace | uchar | - | solution space |
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};
LPINVERSE_KINEMATIC_RESPONSE res = Drfl.ikin(x1, 2, COORDINATE_BASE, 0);
float q1[6] = {0,};
for(int i=0; i<6; i++){
q1[i] = res->_fPosition[i];
}
Drfl.movej(q1, 60, 30);