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
C++
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);