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
C++
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);