CDRFLEx.get_current_tool_flange_posx
Features
This is a function for checking information on the tool flange pose of the robot in the robot controller. 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_POSE | Refer to definition of structure |
Example
CPP
LPROBOT_POSE lpPose1 = drfl.get_current_tool_flange_posx(COORDINATE_SYSTEM_BASE);
LPROBOT_POSE lpPose2 = drfl.get_desired_posj(COORDINATE_SYSTEM_TOOL);