Features
This is a function for checking information on the current location by axis of the robot according to the coordinates (joint space or task space) in the robot controller.
Parameter
|
Parameter Name |
Data Type |
Default Value |
Description |
|---|---|---|---|
|
eSpaceType |
enum.ROBOT_SPACE |
ROBOT_SPACE_JOINT |
Refer to the Definition of Constant and Enumeration Type |
Return
|
Value |
Description |
|---|---|
|
struct.ROBOT_POSE |
Refer to definition of structure |
Example
C++
LPROBOT_POSE lpPose = drfl.get_current_pose(ROBOT_SPACE_JOINT);
// Displays the current location of the robot in joint space
for (int k = 0; k < NUM_JOINT; k++ )
cout << lpPose->_fPosition[k] << endl;